A novel driver assist stability system for all-wheel-drive electric vehicles

A novel driver-assist stability system for all-wheel-drive electric vehicles is introduced. The system helps drivers maintain control in the event of a driving emergency, including heavy braking or obstacle avoidance. The system comprises a fuzzy logic system that independently controls wheel torque to prevent vehicle spin. Another fuzzy wheel slip controller is used to enhance vehicle stability and safety. A neural network is trained to generate the required reference for yaw rate. Vehicle true speed is estimated by a sensor data fusion method. The intrinsic robustness of fuzzy controllers allows the system to operate in different road conditions successfully. Moreover, the ease of implementing fuzzy controllers gives a potential for vehicle stability enhancement.     

Reliability assessment of an automated distribution system

Automation can greatly enhance distribution-network reliability by speeding up service restoration and thus significantly reduce customer-outage time. The paper presents an approach to assess quantitatively the adequacy of a particular automated distribution scheme designated as the `low interruption system' (LIS). Owing to the use of a high-speed communication system and line sensors, this automated scheme can reduce drastically the number of interruptions, the service interruption time and also the area affected by the fault. This scheme provides a simple and cost-effective way to automate distribution systems in which the remotely controlled switches speed up isolation of faulted sections and the restoration of healthy sections through alternative routes. The step-by-step calculation procedure is presented using a typical small automated distribution system. The proposed technique is then applied to a larger distribution system to examine the effectiveness of the technique and also to examine the level of reliability improvement achieved by automation     

Direct adaptive fuzzy control with membership function tuning

In this paper, a direct self‐structured adaptive fuzzy control is introduced for the class of nonlinear systems with unknown dynamic models. Control is accomplished by an adaptive fuzzy system with a fixed number of rules and adaptive membership functions. The reference signal and state errors are used to tune the membership functions and update them instantaneously. The Lyapunov synthesis method is also used to guarantee the stability of the closed loop system. The proposed control scheme is applied to an inverted pendulum and a magnetic levitation system, and its effectiveness is shown via simulation. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Perceiving,learning, and exploiting object affordances for autonomous pile manipulation

Autonomous manipulation in unstructured environments will enable a large variety of exciting and important applications. Despite its promise, autonomous manipulation remains largely unsolved. Even the most rudimentary manipulation task—such as removing objects from a pile—remains challenging for robots. We identify three major challenges that must be addressed to enable autonomous manipulation: object segmentation, action selection, and motion generation. These challenges become more pronounced when unknown man-made or natural objects are cluttered together in a pile. We present a system capable of manipulating unknown objects in such an environment. Our robot is tasked with clearing a table by removing objects from a pile and placing them into a bin. To that end, we address the three aforementioned challenges. Our robot perceives the environment with an RGB-D sensor, segmenting the pile into object hypotheses using non-parametric surface models. Our system then computes the affordances of each object, and selects the best affordance and its associated action to execute. Finally, our robot instantiates the proper compliant motion primitive to safely execute the desired action. For efficient and reliable action selection, we developed a framework for supervised learning of manipulation expertise. To verify the performance of our system, we conducted dozens of trials and report on several hours of experiments involving more than 1,500 interactions. The results show that our learning-based approach for pile manipulation outperforms a common sense heuristic as well as a random strategy, and is on par with human action selection.     

Mechanical properties of composites from sawdust and recycled plastics

Mechanical properties of wood plastic composites (WPCs) manufactured from sawdust and virgin and/or recycled plastics, namely high density polyethylene (HDPE) and polypropylene (PP), were studied. Sawdust was prepared from beech industrial sawdust by screening to the desired particle size and was mixed with different virgin or recycled plastics at 50% by weight fiber loading. The mixed materials were then compression molded into panels. Flexural and tensile properties and impact strength of the manufactured WPCs were determined according to the relevant standard specifications. Although composites containing PP (virgin and recycled) exhibited higher stiffness and strength than those made from HDPE (virgin and recycled), they had lower unnotched impact strengths. Mechanical properties of specimens containing recycled plastics (HDPE and PP) were statistically similar and comparable to those of composites made from virgin plastics. This was considered as a possibility to expand the use of recycled plastics in the manufacture of WPCs. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 100: 3641–3645, 2006     

An improved Differential Evolution algorithm using learning automata and population topologies

A new variant of Differential Evolution (DE), called ADE-Grid, is presented in this paper which adapts the mutation strategy, crossover rate (CR) and scale factor (F) during the run. In ADE-Grid, learning automata (LA), which are powerful decision making machines, are used to determine the proper value of the parameters CR and F, and the suitable strategy for the construction of a mutant vector for each individual, adaptively. The proposed automata based DE is able to maintain the diversity among the individuals and encourage them to move toward several promising areas of the search space as well as the best found position. Numerical experiments are conducted on a set of twenty four well-known benchmark functions and one real-world engineering problem. The performance comparison between ADE-Grid and other state-of-the-art DE variants indicates that ADE-Grid is a viable approach for optimization. The results also show that the proposed ADE-Grid improves the performance of DE in terms of both convergence speed and quality of final solution.     

Leaching of a zinc ore and concentrate using the Geocoat™ technology

In this study, the Geocoat™ technology was used for the extraction of zinc from a mineral concentrate obtained from the Kooshk mine (Yazd, Iran) by a culture dominated by the mesophilic bacterium Acidithiobacillusferrooxidans in a packed column bioreactor. A low grade sphalerite ore was used as support for the concentrate coating. During the 100 days of leaching pH, Fe³⁺, Fe^total, microbial population density and zinc extraction were measured. The final zinc extraction from concentrate and low grade support was 97% and 78%, respectively, and it was found that leaching from the support does not proceed significantly before leaching from the coating is completed.     

Energy storage capacity investigation of pulsed current formed nano-structured lead dioxide

An electro-deposition method was used for the preparation of nano-structured lead dioxide. The lead dioxide films prepared were used as positive electrodes of lead acid batteries. Different parameters such as pulse time (t_on), pulse height, and relaxation time (t_off) were optimized to obtain higher capacity. Depend on the pulse conditions, a range of different morphologies of various porosities and connectivity was obtained. The resulting batteries were discharged to a cut off voltage of 1.75 V by a pulsed current method. The energy storage ability of the prepared lead acid batteries shows a close relation with the morphology of cathode materials. Maximum capacity was observed when pulse and relaxation time was equal to 0.1 and 5 s, respectively, at a current density of 25 mA cm⁻². A change in morphology of lead dioxide from aggregated globular structure to nanofiber was occurred. It was found that the high surface area as well as high connectivity between particles resulted in increased discharge capacity. Analysis of electrochemical impedance spectroscopy (EIS) data revealed that the charge transfer resistance is decreased by a change in morphology from bulk globular to nanofiber as the energy storage test showed. The time dependence of impedance behavior of a sample prepared at t_on = 0.1 s and t_off = 5 s at 25 mA cm⁻² was investigated and the results are discussed.     

Morphology and crystallization behavior of nylon 6‐clay/neat nylon 6 bicomponent nanocomposite fibers

Nylon 6‐clay hybrid/neat nylon 6, sheath/core bicomponent nanocomposite fibers containing 4 wt % of clay in sheath section, were melt spun at different take‐up speeds. Their molecular orientation and crystalline structure were compared to those of neat nylon 6 fibers. Moreover, the morphology of the bicomponent fibers and dispersion of clay within the fibers were analyzed using scanning electron microscopy and transmission electron microscopy (TEM), respectively. Birefringence measurements showed that the orientation development in sheath part was reasonably high while core part showed negligibly low birefringence. Results of differential scanning calorimetry showed that crystallinity of bicomponent fibers was lower than that of neat nylon 6 fibers. The peaks of γ‐crystalline form were observed in the wide‐angle X‐ray diffraction of bicomponent and neat nylon 6 fibers in the whole take‐up speed, while α‐crystalline form started to appear at high speeds in bicomponent fibers. TEM micrographs revealed that the clay platelets were individually and evenly dispersed in the nylon 6 matrix. The neat nylon 6 fibers had a smooth surface while striped pattern was observed on the surface of bicomponent fibers containing clay. This was speculated to be due to thermal shrinkage of the core part after solidification of the sheath part in the spin‐line. © 2013 Wiley Periodicals, Inc. J. Appl. Polym. Sci., 2014 , 131, 39996.