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     

Employing both gender and emotion cues to enhance speaker identification performance in emotional talking environments

Speaker recognition performance in emotional talking environments is not as high as it is in neutral talking environments. This work focuses on proposing, implementing, and evaluating a new approach to enhance the performance in emotional talking environments. The new proposed approach is based on identifying the unknown speaker using both his/her gender and emotion cues. Both Hidden Markov Models (HMMs) and Suprasegmental Hidden Markov Models (SPHMMs) have been used as classifiers in this work. This approach has been tested on our collected emotional speech database which is composed of six emotions. The results of this work show that speaker identification performance based on using both gender and emotion cues is higher than that based on using gender cues only, emotion cues only, and neither gender nor emotion cues by 7.22 %, 4.45 %, and 19.56 %, respectively. This work also shows that the optimum speaker identification performance takes place when the classifiers are completely biased towards suprasegmental models and no impact of acoustic models in the emotional talking environments. The achieved average speaker identification performance based on the new proposed approach falls within 2.35 % of that obtained in subjective evaluation by human judges.     

Modulation Based Combination of High Level Features Generated from SCCF & Contourlet Transforms for CBIR Applications

The need for suitable and cost-effective technologies rise with the growth of the internet of things (IoT) applications. These aim at handling voluminous data transmission in addition to minimum energy and latency cost constraints. LoRa networks are recommended for applications in confined spaces, long ranges, and less battery consumption requirements. However, the end devices in these networks communicate to all gateways in their ranges, thereby expediting energy unproductively in redundant transmissions. In our article, we explore the possibilities of whether LoRa networks could employ the advantages of clustering and propose two algorithms, path-based and data-centric, for such networks. We suggest that LoRaWAN technology with clustering can be apt for long-range, low power consumption IoT applications in the future. We study the impact of network density, node range, and cluster range on the energy consumption in data transmissions. The algorithms are compared with the inherent star-based communication of LoRa networks based on energy consumed, and our results show that, for dense deployments, clustering becomes advantageous.

     

Preemptive cloud resource allocation modeling of processing jobs

Cloud computing allows execution and deployment of different types of applications such as interactive databases or web-based services which require distinctive types of resources. These applications lease cloud resources for a considerably long period and usually occupy various resources to maintain a high quality of service (QoS) factor. On the other hand, general big data batch processing workloads are less QoS-sensitive and require massively parallel cloud resources for short period. Despite the elasticity feature of cloud computing, fine-scale characteristics of cloud-based applications may cause temporal low resource utilization in the cloud computing systems, while process-intensive highly utilized workload suffers from performance issues. Therefore, ability of utilization efficient scheduling of heterogeneous workload is one challenging issue for cloud owners. In this paper, addressing the heterogeneity issue impact on low utilization of cloud computing system, conjunct resource allocation scheme of cloud applications and processing jobs is presented to enhance the cloud utilization. The main idea behind this paper is to apply processing jobs and cloud applications jointly in a preemptive way. However, utilization efficient resource allocation requires exact modeling of workloads. So, first, a novel methodology to model the processing jobs and other cloud applications is proposed. Such jobs are modeled as a collection of parallel and sequential tasks in a Markovian process. This enables us to analyze and calculate the efficient resources required to serve the tasks. The next step makes use of the proposed model to develop a preemptive scheduling algorithm for the processing jobs in order to improve resource utilization and its associated costs in the cloud computing system. Accordingly, a preemption-based resource allocation architecture is proposed to effectively and efficiently utilize the idle reserved resources for the processing jobs in the cloud paradigms. Then, performance metrics such as service time for the processing jobs are investigated. The accuracy of the proposed analytical model and scheduling analysis is verified through simulations and experimental results. The simulation and experimental results also shed light on the achievable QoS level for the preemptively allocated processing jobs.     

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.