Organic Nanoparticles: Preparation,Self‐Assembly,and Properties

The strong tendency of organic nanoparticles to rapidly self‐assemble into highly aligned superlattices at room temperature when solution‐cast from dispersions or spray‐coated directly onto various substrates is described. The nanoparticle dispersions are stable for years. The novel precipitation process used is believed to result in molecular distances and alignments in the nanoparticles that are not normally possible. Functional organic light‐emitting diodes (OLEDs)—which have the same host–dopant emissive‐material composition—with process‐tunable electroluminescence have been built with these nanoparticles, indicating the presence of novel nanostructures. For example, only changing the conditions of the precipitation process changes the OLED emission from green light to yellow.     

Effect of organoclay addition on the two-body abrasive wear characteristics of polyamide 6 nanocomposites

Polymer clay nanocomposites (PCN) exhibit improved mechanical properties due to nanolevel dispersion of clay in the polymer matrix. They also exhibit good tribological performance under dry sliding conditions. Abrasive wear behaviour of these materials would be different from dry sliding behaviour as the mechanisms of the both are entirely different. Hence the abrasive wear behaviour of these materials needs to be investigated. The abrasive wear characteristics of polyamide 6 nanocomposites, with 1, 3 and 5% (wt.) clay prepared by melt intercalation technique, under two-body abrasive wear conditions have been reported. Abrasive wear tests were conducted using a pin-on-disc tribometer containing an abrasive counterface. All the polyamide nanocomposites investigated exhibited a low abrasive wear resistance compared with pristine Nylon. The wear performance of the nanocomposites was correlated with the mechanical properties. Dominant ploughing and cutting wear were observed in polymer clay nanocomposites. The amount of clay present alters the wear mechanism.     

A fuzzy logic system for channel equalization

We present a new method for channel equalization using fuzzy logic. The membership functions are derived from the training data set, and a method to estimate the delay of the communication channel is proposed. The performance of the fuzzy equalizer is compared with that of a transversal filter equalizer. It is shown using simulations that the transversal filter requires a much larger training set to achieve the same error rate. It is also shown, using simulations, that the fuzzy equalizer performs better in the presence of channel nonlinearities     

Stochastic Optimal Design for Unknown Linear Discrete‐Time System Zero‐Sum Games in Input‐Output form Under Communication Constraints

In this paper, stochastic optimal strategy for unknown linear discrete‐time system quadratic zero‐sum games in input‐output form with communication imperfections such as network‐induced delays and packet losses, otherwise referred to as networked control system (NCS) zero‐sum games, relating to the H_∞ optimal control problem is solved in a forward‐in‐time manner. First, the linear discrete‐time zero sum state space representation is transformed into a linear NCS in the state space form after incorporating random delays and packet losses and then into the input‐output form. Subsequently, the stochastic optimal approach, referred to as adaptive dynamic programming (ADP), is introduced which estimates the cost or value function to solve the infinite horizon optimal regulation of unknown linear NCS quadratic zero‐sum games in the presence of communication imperfections. The optimal control and worst case disturbance inputs are derived based on the estimated value function in the absence of state measurements. An update law for tuning the unknown parameters of the value function estimator is derived and Lyapunov theory is used to show that all signals are asymptotically stable (AS) and that the estimated control and disturbance signals converge to optimal control and worst case disturbances, respectively. Simulation results are included to verify the theoretical claims.     

Using solidification parameters to predict porosity distributions in alloy castings

Quality criteria used in the computer-aided design and analysis of casting processes typically relate geometric, thermal, or solidification parameters to structural features such as centerline shrinkage and microporosity. Quality criteria for the prediction of porosity in castings have been used successfully in steel, but the application of criteria functions to nonferrous alloys has been less successful. Recent work suggests that the dominating mechanism that determines the amount and distribution of porosity in castings is strongly dependent on the solidification mode of the alloy and the solidification conditions. Accordingly, casting processes and alloy types are divided into four groups, and a different set of criteria functions are obtained for each group.     

Editorial: Special issue on approximate dynamic programming and reinforcement learning

We are extremely pleased to present this special issue of the Journal of Control Theory and Applications.Approximate dynamic programming (ADP) is a general and effective approach for solving optimal control and estimation problems by adapting to uncertain environments over time.ADP optimizes the sensing objectives accrued over a future time interval with respect to an adaptive control law,conditioned on prior knowledge of the system,its state,and uncertainties.A numerical search over the present value of the control minimizes a Hamilton-Jacobi-Bellman (HJB) equation providing a basis for real-time,approximate optimal control.     

Concept-based evidential reasoning for multimodal fusion in human–computer interaction

Considerable research has been done on using information from multiple modalities, like hands, facial gestures or speech, for better interaction between humans and computers, and many promising human–computer interfaces (HCI) have been developed in recent years. However, most of the current HCI systems have a few drawbacks: firstly, they are highly dependent on the performance of individual sensors. S econdly, the information fusion process from these sensors tends to ignore the semantic nature of the modalities, which may reinforce or clarify each other over time. Finally, they are not robust enough at representing the imprecise nature of human gestures, since individual gestures are highly ambiguous in themselves. In this paper, we propose an approach for the semantic fusion of different input modalities, based on transferable belief models. We show that this approach allows for a better representation of the ambiguity involved in recognizing gestures. Ambiguity is resolved by combining the beliefs of the individual sensors on the input information, to form new extended concepts, based on a pre-defined domain specific knowledge base, represented by conceptual graphs. We apply this technique to a multimodal system consisting of a hand gesture recognition sensor and a brain computing interface. It is shown that the technique can successfully combine individual gestures obtained from the two sensors, to form meaningful concepts and resolve ambiguity. The advantage of this approach is that it is robust even if one of the sensors is inefficient or has no input. Another important feature is its scalability, wherein more input modalities, like speech or facial gestures, can be easily integrated into the system at minimal cost, to form a comprehensive HCI interface.     

Asymptotic Adaptive Neural Network Tracking Control of Nonholonomic Mobile Robot Formations

In this paper, asymptotically stable control laws are developed for leader–follower based formation control using backstepping in order to accommodate the dynamics of the robots and the formation. First, a kinematic controller is developed around control strategies for single mobile robots and the idea of virtual leaders. The virtual leader is replaced with a physical mobile robot leader, and an auxiliary velocity control law is developed in order to prove the global asymptotic stability of the followers which in turn allows the local asymptotic stability of the entire formation. A novel approach is taken in the development of the dynamical controller such that the torque control inputs for the follower robots include the dynamics of the follower robot as well as the dynamics of its leader, and two cases are considered—the case when the robot dynamics are known and the case when they are unknown. In the first case, a robust adaptive control term is utilized to account for unmodeled dynamics. For the latter, a robust adaptive term is augmented with a NN control law to achieve asymptotic tracking performance in contrast with most NN controllers where a bounded tracking error result is shown. Additionally, the NN approximation error is assumed to be a function of tracking errors instead of a constant upper bound, which is commonly found in the literature. The stability of the follower robots as well as the entire formation is demonstrated in each case using Lyapunov methods and numerical results are provided.     

Decentralized fault tolerant control of a class of nonlinear interconnected systems

In this paper, a novel decentralized fault tolerant controller (DFTC) is proposed for interconnected nonlinear continuous-time systems by using local subsystem state vector alone in contrast with traditional distributed fault tolerant controllers or fault accommodation schemes where the measured or the estimated state vector of the overall system is needed. The proposed decentralized controller uses local state and input vectors and minimizes the fault effects on all the subsystems. The DFTC in each subsystem includes a traditional controller term and a neural network based online approximator term which is used to deal with the unknown parts of the system dynamics, such as fault and interconnection terms. The stability of the overall system with the proposed DFTC is investigated by using Lyapunov approach and the boundedness of all signals is guaranteed in the presence of a fault. Therefore, the proposed controller enables the system to continue its normal operation after the occurrence of a fault, as long as it does not cause failure or break down of a component. Although the decentralized fault tolerant controller is designed mainly for large-scale systems where continuous transmissions between subsystems is not possible, it can also be applied to small-scale systems where sensor measurements are available for use in all subsystems. Finally the proposed methods are verified and compared in simulation environment.