Oil Spill Cleanup from Sea Water by Sorbent Materials

Three sorbents were compared in order to determine their potential for oil spill cleanup. Polypropylene nonwoven web, rice hull, and bagasse with two different particle sizes were evaluated in terms of oil sorption capacities and oil recovery efficiencies. Polypropylene can sorb almost 7 to 9 times its weight from different oils. Bagasse, 18 to 45 mesh size, follows polypropylene as the second sorbent in oil spill cleanup. Bagasse, 14 to 18 mesh size, and rice hull have comparable oil sorption capacities, which are lower than those of the two former sorbents. It was found that oil viscosity plays an important role in oil sorption by sorbents. All adsorbents used in this work could remove the oil from the surface of the water preferentially.     

A semantic image classifier based on hierarchical fuzzy association rule mining

One of the major challenges in the content-based information retrieval and machine learning techniques is to-build-the-so-called “semantic classifier” which is able to effectively and efficiently classify semantic concepts in a large database. This paper dealt with semantic image classification based on hierarchical Fuzzy Association Rules (FARs) mining in the image database. Intuitively, an association rule is a unique and significant combination of image features and a semantic concept, which determines the degree of correlation between features and concept. The main idea behind this approach is that any image visual concept has some associated features, so that, there are strong correlations between the concepts and their corresponding features. Regardless of the semantic gap, an image concept appears when the corresponding features emerge in an image and vice versa. Specially, this paper’s contribution was to propose a novel Fuzzy Association Rule for improving traditional association rules. Moreover, it was concerned with establishing a hierarchical fuzzy rule base in the training phase and setup corresponding fuzzy inference engine in order to classify images in the testing phase. The presented approach was independent from image segmentation and can be applied on multi-label images. Experimental results on a database of 6000 general-purpose images demonstrated the superiority of the proposed algorithm.     

Design of explicit model predictive control for constrained linear systems with disturbances

On-line model predictive control approaches require the online solution of an optimization problem. In contrast, the explicit model predictive control moves major part of computation offline. Therefore, eMPC enables one to implement a MPC in real time for wide range of fast systems. The eMPC approach requires the exact system model and results a piecewise affine control law defined on a polyhedral partition in the state space. As an important limitation, disturbances may reduce performance of the explicit model predictive control. This paper presents efficient approach for handling the problem of using eMPC for constrained systems with disturbances. It proposes an approach to improve performance of the closed loop system by designing a suitable state and disturbance estimator. Conditions for observability of the disturbances are considered and it is depicted that applying the disturbance’s estimation leads to rejection of the response error. It is also shown that the proposed approach prevents the reduction of feasible space. Simulation results illustrate the advantages of this approach.     

Hamshahri: A standard Persian text collection

The Persian language is one of the dominant languages in the Middle East, so there are significant amount of Persian documents available on the Web. Due to the different nature of the Persian language compared to the other languages such as English, the design of information retrieval systems in Persian requires special considerations. However, there are relatively few studies on retrieval of Persian documents in the literature and one of the main reasons is the lack of a standard test collection. In this paper, we introduce a standard Persian text collection, named Hamshahri, which is built from a large number of newspaper articles according to TREC specifications. Furthermore, statistical information about documents, queries and their relevance judgments are presented in this paper. We believe that this collection is the largest Persian text collection, so far.     

Using hash tables to manage the time-storage complexity in a point location problem: Application to explicit model predictive control

The online computational burden of linear model predictive control (MPC) can be moved offline by using multi-parametric programming, so-called explicit MPC. The solution to the explicit MPC problem is a piecewise affine (PWA) state feedback function defined over a polyhedral subdivision of the set of feasible states. The online evaluation of such a control law needs to determine the polyhedral region in which the current state lies. This procedure is called point location; its computational complexity is challenging, and determines the minimum possible sampling time of the system. A new flexible algorithm is proposed which enables the designer to trade off between time and storage complexities. Utilizing the concept of hash tables and the associated hash functions, the proposed method solves an aggregated point location problem that overcomes prohibitive complexity growth with the number of polyhedral regions, while the storage–processing trade-off can be optimized via scaling parameters. The flexibility and power of this approach is supported by several numerical examples.     

Measurement of the amount and rate of methane dissolution in pure water and aqueous solution of SDS + multi-wall carbon nanotubes + β-cyclodextrin

In this paper, the impact of the mixture of sodium dodecyl sulfate (SDS) + multi-wall carbon nanotubes (MWCNTs) + β-cyclodextrin on the quantity and initial rate of methane dissolved in water is investigated. The experiments were performed at a temperature range of 278.15–303.15 K and an initial pressure of 0.5 MPa. The experimental results show that simultaneous utilization of β-cyclodextrin (0.01 mass fraction), MWCNTs (0.0005 mass fraction), and SDS (0.001 mass fraction) at 278.15 K increases the amount and the rate of methane dissolution in water by 29.90% and 173.78%, respectively, compared to pure water. An increase in the temperature decreases the quantity and the initial rate of methane dissolution in all solutions containing additives. However, no consistent relationship is observed between the temperature and the enhancement percentage of solubility of methane in solutions containing additives.     

Analytical design of optimal trajectory with dynamic load-carrying capacity for cable-suspended manipulator

This paper describes the development of an approach for trajectory planning of cable-suspended parallel robots using optimal control approach. A prototype has been built, and tests have been carried out to verify the theoretical results. This paper briefly illustrates this device and presents some initial tests. The final dynamic equations are organized in a closed form similar to serial manipulator equations. Dynamic load-carrying capacity problem is converted into a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. The problem is formulated using optimal control theory, and the ideas are analyzed using Pontryagin’s minimum principle. The optimal solutions are found by solving the corresponding nonlinear two-point boundary value problems. The main objective is to find the manipulator load-carrying capacity in point-to-point task by considering actuator torque while cable forces are positive.