Nanogrooved carbon microtubes for wet three‐dimensional printing of conductive composite structures

Recent advances in three‐dimensional (3D) printing have enabled the fabrication of interesting structures which are not achievable using traditional fabrication approaches. The 3D printing of carbon microtube composite inks allows fabrication of conductive structures for practical applications in soft robotics and tissue engineering. However, it is challenging to achieve 3D printed structures from solution‐based composite inks, which requires an additional process to solidify the ink. Here, we introduce a wet 3D printing technique which uses a coagulation bath to fabricate carbon microtube composite structures. We show that through a facile nanogrooving approach which introduces cavitation and channels on carbon microtubes, enhanced interfacial interactions with a chitosan polymer matrix are achieved. Consequently, the mechanical properties of the 3D printed composites improve when nanogrooved carbon microtubes are used, compared to untreated microtubes. We show that by carefully controlling the coagulation bath, extrusion pressure, printing distance and printed line distance, we can 3D print composite lattices which are composed of well‐defined and separated printed lines. The conductive composite 3D structures with highly customised design presented in this work provide a suitable platform for applications ranging from soft robotics to smart tissue engineering scaffolds. © 2019 Society of Chemical Industry     

One-dimensional partitioning for heterogeneous systems: Theory and practice

We study the problem of one-dimensional partitioning of nonuniform workload arrays, with optimal load balancing for heterogeneous systems. We look at two cases: chain-on-chain partitioning, where the order of the processors is specified, and chain partitioning, where processor permutation is allowed. We present polynomial time algorithms to solve the chain-on-chain partitioning problem optimally, while we prove that the chain partitioning problem is NP-complete. Our empirical studies show that our proposed exact algorithms produce substantially better results than heuristics, while solution times remain comparable.     

Wavelet domain association rules for efficient texture classification

The wavelet domain association rules method is proposed for efficient texture characterization. The concept of association rules to capture the frequently occurring local intensity variation in textures. The frequency of occurrence of these local patterns within a region is used as texture features. Since texture is basically a multi-scale phenomenon, multi-resolution approaches such as wavelets, are expected to perform efficiently for texture analysis. Thus, this study proposes a new algorithm which uses the wavelet domain association rules for texture classification. Essentially, this work is an extension version of an early work of the Rushing et al. [10], [11], where the generation of intensity domain association rules generation was proposed for efficient texture characterization. The wavelet domain and the intensity domain (gray scale) association rules were generated for performance comparison purposes. As a result, Rushing et al. [10], [11] demonstrated that intensity domain association rules performs much more accurate results than those of the methods which were compared in the Rushing et al. work. Moreover, the performed experimental studies showed the effectiveness of the wavelet domain association rules than the intensity domain association rules for texture classification problem. The overall success rate is about 97%.     

Single-step ahead prediction based on the principle of concatenation using grey predictors

In literature a number of different methods are proposed to improve the prediction accuracy of grey models. However, most of them are computationally expensive, and this may prohibit their extensive use. This paper describes a much simpler scheme, based on the principle of concatenation, in which unit step predictions are concatenated by replacing the missing outputs by their previously predicted values. Despite its extreme simplicity, it is shown that the predicted values thus derived results in a better performance than the methods proposed in the literature. Simulation studies show the effectiveness of the proposed algorithm when applied to nonlinear function predictions.     

Hypergraph Models and Algorithms for Data-Pattern-Based Clustering

In traditional approaches for clustering market basket type data, relations among transactions are modeled according to the items occurring in these transactions. However, an individual item might induce different relations in different contexts. Since such contexts might be captured by interesting patterns in the overall data, we represent each transaction as a set of patterns through modifying the conventional pattern semantics. By clustering the patterns in the dataset, we infer a clustering of the transactions represented this way. For this, we propose a novel hypergraph model to represent the relations among the patterns. Instead of a local measure that depends only on common items among patterns, we propose a global measure that is based on the cooccurences of these patterns in the overall data. The success of existing hypergraph partitioning based algorithms in other domains depends on sparsity of the hypergraph and explicit objective metrics. For this, we propose a two-phase clustering approach for the above hypergraph, which is expected to be dense. In the first phase, the vertices of the hypergraph are merged in a multilevel algorithm to obtain large number of high quality clusters. Here, we propose new quality metrics for merging decisions in hypergraph clustering specifically for this domain. In order to enable the use of existing metrics in the second phase, we introduce a vertex-to-cluster affinity concept to devise a method for constructing a sparse hypergraph based on the obtained clustering. The experiments we have performed show the effectiveness of the proposed framework.     

Active node determination for correlated data gathering in wireless sensor networks

In wireless sensor network applications where data gathered by different sensor nodes is correlated, not all sensor nodes need to be active for the wireless sensor network to be functional. Given that the sensor nodes that are selected as active form a connected wireless network, the inactive sensor nodes can be turned off. Allowing some sensor nodes to be active and some sensor nodes inactive interchangably during the lifecycle of the application helps the wireless sensor network to have a longer lifetime. The problem of determining a set of active sensor nodes in a correlated data environment for a fully operational wireless sensor network can be formulated as an instance of the connected correlation-dominating set problem. In this work, our contribution is twofold; we propose an effective and runtime-efficient iterative improvement heuristic to solve the active sensor node determination problem, and a benefit function that aims to minimize the number of active sensor nodes while maximizing the residual energy levels of the selected active sensor nodes. Extensive simulations we performed show that the proposed approach achieves a good performance in terms of both network lifetime and runtime efficiency.     

All-pole biquadratic filter realization with the minimum ripple due to parameter variations

In this work, the minimization of the ripple in the relative change of the transfer function amplitude due to parameter variations is studied for the signal-flow graph of the state equations realizing all-pole second-order transfer function. First the measure for the ripple is defined and then branch transmittances minimizing the measure are found. the results obtained in this study can be used in all-pole active filter realizations with the minimum ripple measure.     

Belief Propagation over SISO/MIMO Frequency Selective Fading Channels

In this letter, we propose an iterative belief propagation (BP) channel detector (equalizer) over single-input single- output (SISO) and multiple-input multiple-output (MIMO) frequency selective fading channels as an alternative to the typically used maximum a-posteriori (MAP) or maximum likelihood (ML) detectors. The proposed detector has a parallel structure, resulting in fast hardware implementations. Moreover, BP detector is less complex than the MAP detector and it has a short decoding delay. We analyze the bit error rate and the mutual information and show that, over frequency selective fading channels, the proposed BP detector achieves a near-optimal performance, even in the presence of the length 4 cycles in the corresponding channel factor graph.     

Derivation of a parameter stabilizing training criterion for adaptive neuro-fuzzy inference systems in motion control

This paper presents a novel training algorithm for adaptive neuro-fuzzy inference systems. The algorithm combines the error back-propagation algorithm with the variable structure systems approach. Expressing the parameter update rule as a dynamic system in continuous time and applying sliding mode control (SMC) methodology to the dynamic model of the gradient based training procedure results in the parameter stabilizing part of training algorithm. The proposed combination therefore exhibits a degree of robustness to the unmodelled multivariable internal dynamics of the gradient-based training algorithm. With conventional training procedures, the excitation of this dynamics during a training cycle can lead to instability, which may be difficult to alleviate owing to the multidimensionality of the solution space and the ambiguities concerning the environmental conditions. This paper shows that a neuro-fuzzy model can be trained such that the adjustable parameter values are forced to settle down (parameter stabilization) while minimizing an appropriate cost function (cost optimization), which is based on state tracking performance. In the application example, trajectory control of a two degrees of freedom direct drive robotic manipulator is considered. As the controller, an adaptive neuro-fuzzy inference mechanism is used and, in the parameter tuning, the proposed algorithm is utilized.     

Gain adaptation in sliding mode control of robotic manipulators

In this paper, a novel scheme is proposed to adapt the gains of a sliding mode controller (SMC) so that the problems faced in its practical implementations as a motion controller are overcome. A Lyapunov function is selected for the design of the SMC and an MIT rule is used for gain adaptation. The criterion that is minimized for gain adaptation is selected as the sum of the squares of the control signal and the sliding surface function. This novel approach is tested on a scara-type robot manipulator. The experimental results presented prove its efficacy.