Design, fabrication and control of a magnetic capsule-robot for the human esophagus

Much research on the development of a robotic capsule and micro robot for the diagnosis of gastrointestinal diseases has been carried out. The powering of these micro systems is becoming very challenging as the implementation of such systems is limited due to the existence of on-board power supplies. This paper presents a micro robotic system based on magnetic principles. The goal is to build a system in which a capsule-robot can be manipulated wirelessly inside an enclosed environment such as human??s body. A prototype of capsule-robot is built and tested, that can be remotely operated with three DOF in an enclosed environment by transferring magnetic energy and electromagnetic waves. A magnetic drive unit generates magnetic energy for the manipulation. Experimental results show the capsule-robot is manipulated and moved through a desired trajectory in a viscous fluid. The capsule-robot can be potentially used for endoscopy and colonoscopy.     

Solving a bi-objective cell formation problem with stochastic production quantities by a two-phase fuzzy linear programming approach

We propose a bi-objective cell formation problem with demand of products expressed in a number of probabilistic scenarios. To deal with the uncertain demand of products, a framework of two-stage stochastic programming model is presented. The proposed model considers minimizing the sum of the miscellaneous costs (machine constant cost, expected machine variable cost, cell fixed-charge cost, and expected intercell movement cost) and expected total cell loading variation. Because of conflicting objectives, we develop a two-phase fuzzy linear programming approach for solving bi-objective cell formation problem. To show the effectiveness of the proposed approach, numerical examples are solved and the results are compared with the two existing approaches in the literature. The computational results show that the proposed fuzzy method achieves lower objective functions as well as higher satisfaction degrees.     

Performance analysis of multi-antenna relay networks with imperfect channel estimation

In this paper, we present the performance of multi-antenna selective combining decode-and-forward (SC-DF) relay networks over independent but non-identical Nakagami-m fading channels with imperfect channel estimation. The outage probability, moment generating function (MGF) and symbol error probability (SEP) will be derived in closed-form using the SNR statistical characteristics. To make the analysis trackable, we have derived the MGF and SEP for integer values of fading severity, m. Also, to make the relations more simple, we develop high signal to noise ratio (SNR) analysis for the performance metrics of our system. Subsequently, we propose optimal and adaptive power allocation algorithms along with the equal power allocation method. Finally, for comparison with analytical formulas, we perform some Monte-Carlo simulations.     

Investigations of the Failure in Boilers Economizer Tubes Used in Power Plants

In this study, failure of a high pressure economizer tube of a boiler used in gas-Mazut combined cycle power plants was studied. Failure analysis of the tube was accomplished by taking into account visual inspection, thickness measurement, and hardness testing as well as microstructural observations using scanning electron microscopy (SEM), energy dispersive spectroscopy (EDS), and x-ray diffraction (XRD). Optical microscopy images indicate that there is no phase transformation during service, and ferrite-pearlite remained. The results of XRD also revealed Iron sulfate (FeSO₄) and Iron hydroxide sulfate (FeOH(SO₄)) phases formed on the steel surface. A considerable amount of Sulfur was also detected on the outer surface of the tube by EDS analysis. Dew-point corrosion was found to be the principal reason for the failure of the examined tube while it has been left out-of-service.     

Outage Probability Based Robust Distributed Beam-Forming in Multi-User Cooperative Networks with Imperfect CSI

In this paper, a new robust problem is proposed for relay beamforming in relay system with stochastic perturbation on channels of multi user and relay network. The robust problem aims to minimize the transmission power of relay nodes while the imperfect channel information (CSI) injects stochastic channel uncertainties to the parameters of optimization problem. In the power minimization framework, the relays amplification weights and phases are optimized assuming the availability of Gaussian channel distribution. The power sum of all relays is minimized while the outage probability of the instantaneous capacity (or SINR) at each link is above the outage capacity (or SINR) for each user. The robust problem is a nonconvex SDP problem with Rank constraint. Due to the nonconvexity of the original problem, three suboptimal problems are proposed. Simulation and numerical results are presented to compare the performance of the three proposed solutions with the existing worst case robust method.     

Spatial-Temporal Cooperative Spectrum Sensing in Flat Fading Channels for Cognitive Radio Using Extend Kalman Filter

This paper investigates a new channel gain map tracking by Space-Time Extended Kalman Filtering (STEKF) for a flat channel, and a novel spectrum sensing via Time Spatial Weighted Non-negative Lasso (TSWNL) algorithm. STEKF enables CRs to estimate and interpolate channel gain map for the entire geographical area of interest with a limited number of CRs measurements. In order to sense primary users (PU) activities, include the transmission power by each PU, location and number of active PUs, TSWNL algorithm is proposed. Numerical results illustrate that the proposed STEKF channel estimation and TSWNL sensing algorithms outperforms linear methods.