Model-based PI–fuzzy control of four-wheeled omni-directional mobile robots

The purpose of this study is to suggest and examine a PI–fuzzy path planner and associated low-level control system for a linear discrete dynamic model of omni-directional mobile robots to obtain optimal inputs for drivers. Velocity and acceleration filtering is also implemented in the path planner to satisfy planning prerequisites and prevent slippage. Regulated drivers’ rotational velocities and torques greatly affect the ability of these robots to perform trajectory planner tasks. These regulated values are examined in this research by setting up an optimal controller. Introducing optimal controllers such as linear quadratic tracking for multi-input–multi-output control systems in acceleration and deceleration is one of the essential subjects for motion control of omni-directional mobile robots. The main topics presented and discussed in this article are improvements in the presented discrete-time linear quadratic tracking approach such as the low-level controller and combined PI–fuzzy path planner with appropriate speed monitoring algorithm such as the high-level one in conditions both with and without external disturbance. The low-level tracking controller presented in this article provides an optimal solution to minimize the differences between the reference trajectory and the system output. The efficiency of this approach is also compared with that of previous PID controllers which employ kinematic modeling. Utilizing the new approach in trajectory-planning controller design results in more precise and appropriate outputs for the motion of four-wheeled omni-directional mobile robots, and the modeling and experimental results confirm this issue.     

Water diffusion in polymer nano-films measured with microcantilevers

We present a method to measure the absorption of water molecules from the liquid and the vapour phase into polymer nano-films and the diffusion inside these films. Film thickness can be down to 45 nm. To demonstrate the possibilities of this method we use polymer films that are deposited on the upper side of a silicon cantilever by plasma polymerization of norbornene. When a microdrop of water is deposited onto the initially straight cantilever, the drop causes the cantilever to bend while it evaporates. Evaporation of such small water drops usually takes less than a second. An upwards bending is due to capillary forces and a downwards bending is due to the diffusion of water into the polymer film – and the consequent volume expansion (swelling) of the film. The magnitude of the capillary forces and the extent of swelling continuously change during drop evaporation. When drop evaporation is over the cantilever returns to its initial straight position. We simulate the time dependent bending with a numerical model that qualitatively agrees with the experiment. From the time dependence of cantilever bending we are able to determine the diffusion coefficient of water in the thin polymer film.     

A photoluminescence-based quantum semiconductor biosensor for rapid in situ detection of Escherichia coli

This work describes a novel method of detecting Escherichia coli using photoluminescence (PL) emission from III–V quantum semiconductor (QS) devices functionalized with two different antibody-based architectures. The first approach employed self-assembled monolayers of biotinylated polyethylene glycol thiols to immobilize biotinylated antibody via neutravidin. In the second approach, we used QS microstructures coated with a thin layer of Si₃N₄ allowing direct functionalization with E. coli antibodies through hydrofluoric acid etching and glutaraldehyde-based reticulation. Atomic force, optical and fluorescence microscopy measurements were used to assess the immobilization process. Depending on the biosensing architecture, density of the immobilized bacteria was observed in the range of 0.5–0.7 bacteria/100 μm². The detection of E. coli at 10⁴ CFU/ml was achieved within less than 120 min of the bacteria exposure. It is expected that an even better sensitivity threshold could be achieved following further optimization of the method.     

From embedded sensors to sensorial materials—The road to function scale integration

Ubiquitous computing is about to become part of our everyday lives by integrating hundreds of “invisible” to us computing devices in our environment, so that they can unobtrusively and constantly assist us. This will imply more and smaller “invisible” sensors, homogeneously distributed and at the same time densely packed in host materials, responding to various stimuli and immediately delivering information. In order to reach this aim, the embedded sensors should be integrated within the host material, heading towards sensorial materials. The first step is to omit all parts that are not needed for the sensorial task and to find new solutions for a gentle integration. This is what we call function scale integration. The paper discusses sensor embedding in the human hand as an example of integration in nature, new technological applications and main challenges associated with this approach.     

Characterization of microdevices for ferrous chloride separation for biosensing applications

Ferrous chloride has a variety of applications such as a reducing flocculation agent in waste-water treatment, especially for wastes containing chromate, in the laboratory synthesis of iron complexes and it is employed as a reducing agent in many organic syntheses. The device used for experiment was fabricated on the silicon wafer as support for two electrodes in a SU8 polymer microchannel with an inlet, for the injection of aqueous solution of ferrous chloride, and two outlets, for the two by-products of separated solutions. The various parameters of the device were measured by White Light Interferometer (WLI) and Scanning Electron Microscopy (SEM). The magnetic field created by applying different types of potential between two electrodes determined ferrous chloride to separate in ferrous oxide and chlorine (in gaseous form). If a protein is added in this solution we have the possibility to immobilize the protein on the iron particles and on the channel area. The electrical results were collected using a semiconductor system analyzer Keithley and were examined subsequently. The Fe complexes deposited on the electrodes were characterized by XRD analyses.     

Gaussian kernel optimization: Complex problem and a simple solution

The Gaussian kernel function implicitly defines the feature space of an algorithm and plays an essential role in the application of kernel methods. The parameter of Gaussian kernel function is a scalar that has significant influences on final results. However, until now, it is still unclear how to choose an optimal kernel parameter. In this paper, we propose a novel data-driven method to optimize the Gaussian kernel parameter, which only depends on the original dataset distribution and yields a simple solution to this complex problem. The proposed method is task irrelevant and can be used in any Gaussian kernel-based approach, including supervised and unsupervised machine learning. Simulation experiments demonstrate the efficacy of the obtained results. A user-friendly online calculator is implemented at: www.csbio.sjtu.edu.cn/bioinf/kernel/ for public use.     

Neural network based controller for Cr–Fe batch reduction process

An automated pilot plant has been designed and commissioned to carry out online/real-time data acquisition and control for the Cr⁶⁺–Fe²⁺ reduction process. Simulated data from the Cr⁶⁺–Fe²⁺ model derived are validated with online data and laboratory analysis using ICP-AES analysis method. The distinctive trend or patterns exhibited in the ORP profiles for the non-equilibrium model derived have been utilized to train neural network-based controllers for the process. The implementation of this process control is to ensure sufficient Fe²⁺ solution is dosed into the wastewater sample in order to reduce all Cr⁶⁺–Cr³⁺. The neural network controller has been utilized to compare the capability of set-point tracking with a PID controller in this process. For this process neural network-based controller dosed in less Fe²⁺ solution compared to the PID controller which hence reduces wastage of chemicals. Industrial Cr⁶⁺ wastewater samples obtained from an electro-plating factory has also been tested on the pilot plant using the neural network-based controller to determine its effectiveness to control the reduction process for a real plant. The results indicate the proposed controller is capable of fully reducing the Cr⁶⁺–Cr³⁺ in the batch treatment process with minimal dosage of Fe²⁺.     

Plasmonic enhanced fluorescence spectroscopy using side-polished microstructured optical fiber

We report excitation of surface plasmon in a gold-coated side-polished D-shape microstructure optical fiber (MOF). As the leaky evanescent field from the fiber core becomes highly localized by the plasmon wave, its intensity also gets amplified significantly. Here we demonstrate an efficient use of this intensified field as excitation in fluorescence spectroscopy. The so-called plasmonic enhanced fluorescence emission from Rhodamine B has been investigated experimentally. First, plasmonic effect alone was found to provide an immediate fluorescence enhancement factor of two. Second, experimental results show a good agreement with theoretical modeling. Strong evanescent field generation and surface enhancement with simple metallic coating makes this fiber based device a good candidate for compact fluorescence spectroscopy.     

Simultaneous kinetic spectrophotometric determination of sulfide and sulfite ions by using an optode and the partial least squares (PLS) regression

The characterization of an optical sensor membrane is described for simultaneous determination of sulfite and sulfide ions based on the immobilization of crystal violet on a triacetylcellulose membrane. The absorbance of the membranes decreased by increasing sulfite and sulfide concentration. The partial least squares (PLS-1) calibration model based on spectrophotometric measurement for simultaneous determination of sulfite and sulfide ions was applied. This method is based on the difference between the rate of the reaction of sulfide and sulfite with membranes in pH 7.0 buffer solution and at 25 °C. The experimental calibration matrix for partial least squares (PLS-1) calibration was designed with 18 samples. The cross-validation method was used for selecting the number of factors. The results showed that simultaneous determination could be performed in the range of 200–2000 μg mL⁻¹ (2.5–25 mmol L⁻¹) and 80–900 μg mL⁻¹ (2.5–28.125 mmol L⁻¹) for sulfite and sulfide, respectively. The sensor can readily be regenerated with water and the color is fully reversible. The sensor was successfully applied to the simultaneous determination of sulfide and sulfite in water samples.