Rule-based supervisory control of a two-link flexible manipulator

In this paper, we propose a two level hierarchical control strategy to achieve accurate end-point position of a planar two-link flexible manipulator. The upper level consists of a feedforward rule-based supervisory controller that incorporates fuzzy logic, whereas the lower level consists of conventional controllers that combine shaft position-endpoint acceleration feedback for disturbance rejection properties and shaping of the (joint) actuator inputs to minimize the energy transferred to the flexible modes during commanded movements. The effectiveness of this hierarchical control strategy is verified by experimental results for various movements of the links, in various configurations. In particular, we illustrate how the hierarchical intelligent control strategy performs better than conventional control techniques for endpoint position control in the presence of flexure effects.     

Formation of phase structure and crystallization behavior in blends containing polystyrene–polyethylene block copolymers

The microphase separation structure in the molten state and the structure formation in crystallization from such ordered melt were investigated for the blends of polystyrene–polyethylene block copolymers (SE) with polystyrene homopolymer (PS) and polyethylene homopolymer (PE) and for the blends consisting of two kinds of SE with different copolymer compositions from each other, using synchrotron small-angle X-ray scattering techniques (SAXS). The copolymer compositions of SE block copolymers employed were 0.34, 0.58 and 0.73 wt. fraction of PE, and their melt morphologies were cylindrical, lamellar and lamellar, respectively. Macrophase separation or the morphology change in the melt occurred depending on the molecular weight and the blend composition, as reported so far. In crystallization from such macrophase-separated and microphase-separated melts, the melt morphology was completely kept for all the blends. Crystallization behavior was also investigated for the blends. The crystallization within the spherical and cylindrical domains surrounded by glassy PS was not observed for SE/PS blends. In the crystallization from the macrophase-separated melt, two exothermal peaks were observed in the DSC measurements, while a single peak was observed for other blends. For the blends with PS, the degree of crystallinity was depressed and the apparent activation energy of crystallization was high, compared to those for the corresponding neat SE. For SE/PE and SE/SE blends, those were changed depending on the blend composition.     

Efficiency of mineral admixtures in mortars: Quantification of the physical and chemical effects of fine admixtures in relation with compressive strength

This work is the fourth part of an overall project the aim of which was the development of general mix design rules for concrete containing different kinds of mineral admixtures. The two first parts presented the separation and quantification, by means of an empirical model based on semi-adiabatic calorimetry measurements, of the different physical effects responsible for changes in cement hydration (short terms) when chemically inert quartz powders were used in mortars. Part three dealt with an intensive experimental program, presenting and commenting more than 2000 compressive strength measurements. This program concerned 1 day to 6 months old mortars containing up to 75% of inert and pozzolanic admixtures. All these compressive strength results are analyzed in this fourth part and the influence of three effects, namely dilution, heterogeneous nucleation and the pozzolanic effect, are discriminated and quantitatively evaluated. An efficiency concept is proposed in order to take into account the effect of mineral admixture in mortars from both the physical and chemical points of view. It uses an efficiency function ξ(p) that has notable properties: it is independent of time, independent of fineness and independent of the type of mineral admixture.     

Object Recognition in X-ray Testing Using Adaptive Sparse Representations

In recent years, X-ray screening systems have been used to safeguard environments in which access control is of paramount importance. Security checkpoints have been placed at the entrances to many public places to detect prohibited items such as handguns and explosives. Human operators complete these tasks because automated recognition in baggage inspection is far from perfect. Research and development on X-ray testing is, however, ongoing into new approaches that can be used to aid human operators. This paper attempts to make a contribution to the field of object recognition by proposing a new approach called Adaptive Sparse Representation (XASR+). It consists of two stages: learning and testing. In the learning stage, for each object of training dataset, several patches are extracted from its X-ray images in order to construct representative dictionaries. A stop-list is used to remove very common words of the dictionaries. In the testing stage, test patches of the test image are extracted, and for each test patch a dictionary is built concatenating the ‘best’ representative dictionary of each object. Using this adapted dictionary, each test patch is classified following the Sparse Representation Classification methodology. Finally, the test image is classified by patch voting. Thus, our approach is able to deal with less constrained conditions including some contrast variability, pose, intra-class variability, size of the image and focal distance. We tested the effectiveness of our method for the detection of four different objects. In our experiments, the recognition rate was more than 97 % in each class, and more than 94 % if the object is occluded less than 15 %. Results show that XASR+ deals well with unconstrained conditions, outperforming various representative methods in the literature.     

A critical discussion on rebar electrical continuity and usual interpretation thresholds in the field of half-cell potential measurements in steel reinforced concrete

Corrosion of steel in reinforced concrete structures is a recurrent problem affecting civil engineering structures and costing the world billions of dollars per year. This physical phenomenon mainly results from chloride ingress or concrete carbonation. Corrosion can be diagnosed through a nondestructive method such as half-cell potential measurements. The present paper studies this method on a reinforced concrete wall containing eighteen unconnected steel bars and subjected to chloride-induced macrocell corrosion. Three corrosion systems with different configurations of connections between the steel bars are generated, involving three different anode-to-cathode surface ratios. Then, half-cell potential variations are observed versus macrocell corrosion current. The results lead to a critical discussion regarding the physical relevance of the usual potential threshold method to detect corroding rebars in reinforced concrete structures. In addition, the experiments demonstrate that electrical continuity between reinforcing steel bars is not necessary to get meaningful information about the macrocell corrosion system. At last, the paper show that the electric field (potential gradient) relative to a macrocell corrosion system may be measured by connecting the measurement system (reference electrode?+?voltmeter) to any electrochemical system in electrolytic contact with the concrete.     

Intradaily dynamic portfolio selection

A portfolio selection model which allocates a portfolio of currencies by maximizing the expected return subject to Value-at-Risk (VaR) constraint is designed and implemented. Based on an econometric implementation using intradaily data, the optimal portfolio allocation is forecasted at regular time intervals. For the estimation of the conditional variance from which the VaR is computed, univariate and multivariate GARCH models are used. Model evaluation is done using two economic criteria and two statistical tests. The result for each model is given by the best forecasted intradaily investment recommendations in terms of the optimal weights of the currencies in the risky portfolio. The results show that estimating the VaR from multivariate GARCH models improves the results of the forecasted optimal portfolio allocation, compared to using a univariate model.     

Diagnosis of lung nodule using Moran’s index and Geary’s coefficient in computerized tomography images

This paper analyzes the application of Moran’s index and Geary’s coefficient to the characterization of lung nodules as malignant or benign in computerized tomography images. The characterization method is based on a process that verifies which combination of measures, from the proposed measures, has been best able to discriminate between the benign and malignant nodules using stepwise discriminant analysis. Then, a linear discriminant analysis procedure was performed using the selected features to evaluate the ability of these in predicting the classification for each nodule. In order to verify this application we also describe tests that were carried out using a sample of 36 nodules: 29 benign and 7 malignant. A leave-one-out procedure was used to provide a less biased estimate of the linear discriminator’s performance. The two analyzed functions and its combinations have provided above 90% of accuracy and a value area under receiver operation characteristic (ROC) curve above 0.85, that indicates a promising potential to be used as nodules signature measures. The preliminary results of this approach are very encouraging in characterizing nodules using the two functions presented.

Mineral admixtures in mortars: Effect of inert materials on short-term hydration

This work is the first part of an overall project the aim of which is the development of general mix design rules for concrete containing different kinds of mineral admixtures. The separation of the different physical effects responsible for the modification of cement hydration, when chemically inert quartz powders are used in mortars, is presented. The phenomenological approach, based on semi-adiabatic calorimetry, is only associated with first-order phenomena, and the study excludes the complex physicochemical details involved in the chemistry of cement. The results, obtained for a wide range of fineness (between 180 and 2000 m²/kg) and replacement rates (up to 75%), show that short-term degrees of hydration in mortars containing a chemically inert mineral admixture (quartz) are always higher than for a reference mortar. This study confirms that cement hydration is enhanced by inert mineral admixtures. The two main physical effects responsible for the modification of the hydration of cement are identified as the dilution effect and heterogeneous nucleation. The dilution effect of the cement is highlighted with a coarse mineral admixture. The heterogeneous nucleation effect, although it increases with fineness of mineral admixtures, presents an optimum depending on the replacement rate. In the following part of this work, these results will be used for the development of an empirical model allowing us to quantify both physical effects.     

Walking and steering control for a 3D biped robot considering ground contact and stability

This paper presents a stable walking control method for a 3D bipedal robot with 14 joint actuators. The overall control law consists of a ZMP (zero moment point) controller, a swing ankle rotation controller and a partial joint angles controller. The ZMP controller guarantees that the stance foot remains in flat contact with the ground. The swing ankle rotation controller ensures a flat foot impact at the end of the swinging phase. Each of these controllers creates 2 constraints on joint accelerations. As a consequence, the partial joint angles controller is implemented to track only 10 independent outputs. These outputs are defined as a linear combination of the 14 joint angles. The most important question addressed in this paper is how this linear combination can be defined in order to ensure walking stability. The stability of the walking gait under closed loop control is evaluated with the linearization of the restricted Poincare map of the hybrid zero dynamics. As a result, the robot can achieve an asymptotically stable and periodic walking along a straight line. Finally, another feedback controller is supplemented to adjust the walking direction of the robot and some examples of the robot steered to walk along different paths with mild curvature are given.