Motion control of a novel planar biped with nearly linear dynamics

In this paper, we propose the design of a planar biped for which the model is nearly linear, i.e., the inertia matrix is a constant and the gravity terms in the equations of motion are still nonlinear, but simplified. The legs are designed such that the inertia matrix is independent of the joint variables. As a result, the nonlinear terms in the centrifugal and Coriolis terms disappear. In this design, each leg has two links that are connected by a revolute joint at the knee. The two legs are connected to each other at the hip. The center of mass of each leg is located at the hip, using counterweights. We assume that the stance leg is locked at the knee during the support phase. For this system, dynamic model for complete walking, i.e., swing phase, knee lock, and foot impact are considered. Motion control for trajectory following of this design is studied using a nonlinear controller. The paper discusses the issue of tracking of desired trajectories during the full cycle motion.     

Effect of Mg2+-Fe3+ replacement on physical and electrical properties of the system MgxZn0.3Fe2.7−xO4±δ

X-ray analysis and d.c. electrical resistivity have been studied for the system Mg _x Zn_0.3Fe_2.7–x O_4± . The apparent density, X-ray density and porosity were also studied. It was found that the lattice parameter is independent of the substitution of iron ions with magnesium ions. Density, X-ray density and porosity do depend on replacement of the iron ions by magnesium ions. Two regions of resistivity were found; one region indicates the p-type and another one the n-type. This behaviour depends on the excess or deficiency and type of valency of the iron ions in the composition.     

Optimal Machine Learning Enabled Performance Monitoring for Learning Management Systems

Learning Management System (LMS) is an application software that is used in automation, delivery, administration, tracking, and reporting of courses and programs in educational sector. The LMS which exploits machine learning (ML) has the ability of accessing user data and exploit it for improving the learning experience. The recently developed artificial intelligence (AI) and ML models helps to accomplish effective performance monitoring for LMS. Among the different processes involved in ML based LMS, feature selection and classification processes find beneficial. In this motivation, this study introduces Glowworm-based Feature Selection with Machine Learning Enabled Performance Monitoring (GSO-MFWELM) technique for LMS. The key objective of the proposed GSO-MFWELM technique is to effectually monitor the performance in LMS. The proposed GSO-MFWELM technique involves GSO-based feature selection technique to select the optimal features. Besides, Weighted Extreme Learning Machine (WELM) model is applied for classification process whereas the parameters involved in WELM model are optimally fine-tuned with the help of Mayfly Optimization (MFO) algorithm. The design of GSO and MFO techniques result in reduced computation complexity and improved classification performance. The presented GSO-MFWELM technique was validated for its performance against benchmark dataset and the results were inspected under several aspects. The simulation results established the supremacy of GSO-MFWELM technique over recent approaches with the maximum classification accuracy of 0.9589.     

Explanation-Based Learning for Diagnosis

We present explanation-based learning (EBL) methods aimed at improving the performance of diagnosis systems integrating associational and model-based components. We consider multiple-fault model-based diagnosis (MBD) systems and describe two learning architectures. One, EBLIA, is a method for learning in advance. The other, EBL(p), is a method for learning while doing. EBLIA precompiles models into associations and relies only on the associations during diagnosis. EBL(p) performs compilation during diagnosis whenever reliance on previously learned associational rules results in unsatisfactory performance—as defined by a given performance threshold p. We present results of empirical studies comparing MBD without learning versus EBLIA and EBL(p). The main conclusions are as follows. EBLIA is superior when it is feasible, but it is not feasible for large devices. EBL(p) can speed-up MBD and scale-up to larger devices in situations where perfect accuracy is not required.     

Computational modeling of flow over an ogee spillway

This paper presents an investigation into the hydraulics of regular ogee-profile spillways. The free-surfaces of the fluid for several flow heads as measured in the hydraulics laboratory are used as benchmarks. The finite element computational fluid dynamics software, ADINA, was used to predict the free surface over an ogee spillway and thus model the flow field. Since the actual flow is turbulent the k-ε flow model was used. For the cases considered in this paper, ADINA predicted reasonable free surface results that are consistent with general flow characteristics over spillways. The results are also in close agreement with measured free-surface profiles over the entire length of the spillway.     

On the importance of specific interface area in clay nanocomposites of PMMA filled with synthetic nano-mica

In clay nanocomposites, the specific interface area is the key factor determining potential improvements of properties. Nevertheless, in most systematic studies of nanocomposites little emphasis is put on assuring and characterizing dispersion quality. To probe the influence of dispersion quality, we compare nanocomposites filled with two layered silicates which were made by melt compounding and solution blending, respectively. Poly(methyl methacrylate) (PMMA) is chosen here as a thermoplastic model matrix which was compounded with a synthetic nano-mica (O-hect) and commercial Bentone with typical diameters of 5–7 μm and <300 nm, respectively.     

A phase‑locked loop using ESO‑based loop flter for grid‑connected converter: performance analysis

An extended state observer (ESO)-based loop flter is designed for the phase-locked loop (PLL) involved in a disturbed gridconnected converter (GcC). This ESO-based design enhances the performances and robustness of the PLL, and, therefore, improves control performances of the disturbed GcCs. Besides, the ESO-based LF can be applied to PLLs with extra flters for abnormal grid conditions. The unbalanced grid is particularly taken into account for the performance analysis. A tuning approach based on the well-designed PI controller is discussed, which results in a fair comparison with conventional PItype PLLs. The frequency domain properties are quantitatively analysed with respect to the control stability and the noises rejection. The frequency domain analysis and simulation results suggest that the performances of the generated ESO-based controllers are comparable to those of the PI control at low frequency, while have better ability to attenuate high-frequency measurement noises. The phase margin decreases slightly, but remains acceptable. Finally, experimental tests are conducted with a hybrid power hardware-in-the-loop benchmark, in which balanced/unbalanced cases are both explored. The obtained results prove the efectiveness of ESO-based PLLs when applied to the disturbed GcC.     

A phase-locked loop using ESO-based loop filter for grid-connected converter:performance analysis

An extended state observer(ESO)-based loop filter is designed for the phase-locked loop(PLL)involved in a disturbed grid-connected converter(GcC).This ESO-based...     

Oxidative solution polymerization of aniline hydrochloride onto electrospun nanofibers mats of polylactic acid: Preparation method and characterization

In this work, we present the preparation of polylactic acid (PLLA)/polyaniline (PANI) conductive composite nanofibers mats. They are prepared by bulk oxidative solution polymerization of PANI onto electrospun non‐woven fibers mats of PLLA. The PANI ratio in the composite is about 70%w/w. Scanning electron microscopy (SEM) shows that PLLA nanofibers are randomly oriented, beads free with diameters of 186 ± 85 nm, The PLLA/PANI composite nanofibers diameter values are 518 ± 128 nm with a good adherence between PANI and PLLA nanofibers. DSC and XRD measurements reveal an amorphous structure of the electrospun PLLA fibers due to the rapid evaporization of the solvent. FTIR and UV–vis spectra reflect good mutual interactions between PANI and PLLA chains. The DC‐conductivities ( ) far better than other published ones for similar composites prepared by bulk oxidative solution polymerization of PANI onto other electrospun nanofiber mats or with electrospun nanofibers from a solution mixture of PLLA and PANI. © 2014 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2015 , 132, 41618.