Simulation of Fuzzy-Logic-Based Intelligent Wheelchair Control System

Fuzzy logic control system for an intelligent wheelchair aimed for assistance by the severely handicapped persons is presented in the paper. It is based on a computer simulation of wheelchair navigation, in which fuzzy logic enables control priority to smoothly alternate between manual and automatic control of the wheelchair in the vicinity of obstacles. The main purpose of designing and simulating this control approach is to improve the safety of a wheelchair in the presence of obstacles. To analyze the success of the wheelchair control, a dynamic model of the wheelchair, together with the models of distance sensors, has been developed using Lagrange analysis.     

A multimodal hand-based verification system with an aliveness-detection module

This paper presents a multimodal biometrie verification system based on the following hand features: palmprint, four digitprints and four fingerprints. The features are obtained using the Karhunen-Loève transform based approach, and information fusion at the matching-score level was applied. We experimented with different resolutions of the regions of interest, different numbers of features and several normalization and fusion techniques at the matching-score level. To increase the reliability of the system to spoof attacks we included an aliveness-detection module based on thermal images of the hand dor sa. The verification performance when using a system configuration with optimum parameters, i.e., resolution, number of features, normalization and fusion technique, showed an equal error rate (EER) of 0.0020%, which makes the system appropriate for the implementation of high-security biometric systems.     

Mechanochemical reaction in the K2CO3–Nb2O5 system

We studied the mechanochemical synthesis of KNbO₃, starting from a powder mixture of K₂CO₃ and Nb₂O₅. The milling experiments were designed with different ball-impact energies in order to investigate the mechanochemical reactions. X-ray diffraction, thermogravimetric analysis, infrared spectroscopy, Raman spectroscopy and transmission electron microscopy were used to characterize the samples. Based on the results, we propose a mechanism for the mechanochemical reaction between K₂CO₃ and Nb₂O₅. The first stage of the reaction is characterized by the formation of an amorphous carbonato complex, which decomposes after prolonged milling at higher ball-impact energy giving rise to the crystallization of KNbO₃ and other niobate phases with a molar ratio K/Nb < 1. The reaction course is discussed and compared with the Na₂CO₃–Nb₂O₅ system.     

Comparison of position repeatability of a human operator and an industrial manipulating robot

STATEMENT OF PROBLEM: Implant-supported restorations in the partially edentulous jaw have been performed at the Mayo Clinic for more than 10 years. Clinical performance of the implants and the prostheses should be reported to ensure effectiveness of this procedure. PURPOSE: This retrospective study described results for implant survival, implant fracture rate, prosthetic complications, and design changes that may impact these results. MATERIAL AND METHODS: A retrospective chart review was conducted of all registered implant patients in a large multispecialty medical center. Patients with a partially edentulous jaw who had received endosseous implants to support and retain dental prostheses were included in this review. Implant survival and fracture, prosthetic complications, and demographic data were recorded and analyzed through Kaplan-Meier methods. RESULTS: A total of 1170 implants were placed in four anatomic locations: anterior maxilla, posterior maxilla, anterior mandible, or posterior mandible. Location of implants was shown to have no effect on implant survival (p = 0.7398), implant fracture rates (p = 0.2385), screw loosening (p = 0.8253), or screw fracture (p = 0.2737). Development of new restorative components has resulted in significantly better rates of implant survival without fracture (p = 0.0054), screw function without loosening (p < 0.0001) and screw function without fracture (p = 0.0013). Implant survival seems to have been improved with the new components (p = 0.0513). CONCLUSIONS: Implant survival in this study was independent of anatomic location of implants. Virtually all clinical performance factors were improved by design changes in implant restorative components that were brought to market in early 1991.     

An OpenCL library for parallel random number generators

The Journal of Supercomputing - We present a library of 22 pseudo-random number generators on the GPU. The library is implemented in OpenCL and all generators are tested using the TestU01 and...     

Two-Phase Heat Sinks with Microporous Coating

To minimize flow boiling instabilities in two-phase heat sinks, two different types of microporous coatings were developed and applied on mini- and small-channel heat sinks and tested using degassed R245fa refrigerant. The first coating was epoxy based and was sprayed on heat sink channels, while the second coating was formed by sintering copper particles on heat sink channels. Minichannel heat sinks had overall dimensions 25.4 mm × 25.4 mm × 6.4 mm and 12 rectangular channels with a hydraulic diameter 1.7 mm and a channel aspect ratio of 2.7. Small-channel heat sinks had the same overall dimensions, but only three rectangular channels with hydraulic diameter 4.1 mm and channel aspect ratio 0.6. The microporous coatings were found to minimize parallel channel instabilities for minichannel heat sinks and to reduce the amplitude of heat sink base temperature oscillations from ～6°C to slightly more than 1°C. No increase in pressure drop or pumping power due to the microporous coating was measured. The minichannel heat sinks with porous coating had on average 1.5 times higher heat transfer coefficient than uncoated heat sinks. Also, the small-channel heat sinks with the “best” porous coating had on average 2.5 times higher heat transfer coefficient and the critical heat flux was 1.5 to 2 times higher compared with the uncoated heat sinks.     

In situ study of electric-field-induced ferroelectric and antiferromagnetic domain switching in polycrystalline BiFeO3

Antiferromagnetic domain switching induced by ferroelectric polarization switching has previously been observed in situ in both multiferroic BiFeO₃ single crystals and thin films. Despite a number of reports on macroscopic magnetoelectric measurements on polycrystalline BiFeO₃, direct in situ observation of electric-field-induced antiferromagnetic domain switching in this material has not been addressed due to the lack of high-quality samples capable of electrical poling. Here, the electric field control of antiferromagnetic domain texture is identified in polycrystalline BiFeO₃ using in situ neutron diffraction, showing the resultant magnetic domain reorientation induced by an electric field. An antiferromagnetic domain reorientation to a value of 2.2-2.5 multiples of a random distribution (MRD) is found to be induced by an electric field that provides a non-180° ferroelectric-ferroelastic domain texture of 2.2-2.5 MRD along the field direction. The current results show well-controlled coupling of multiferroic domain texturing in single-phase polycrystalline BiFeO₃.     

Kinematic modeling of four-point walking patterns in paraplegicsubjects

We present a kinematic model of a paraplegic subject walking with crutches where the subject with the crutches is modeled as a parallel kinematic structure. The model is employed to investigate if certain quadrupedal gait patterns can be implemented with functional electrical stimulation. The study is motivated by the fact that the existing crutch-assisted gait realized by the electrical stimulation is slow and energy inefficient. Gait patterns that would improve the walking are identified. The main characteristic of the patterns is that some of their states are not statically stable. During such states, the subject is supported by only a leg and a crutch. It is demonstrated that if the forward motion is provided by the stimulation of the plantar flexors the trajectory of the center of the body can closely follow the trajectory that is observed during walking of healthy subjects. We argue that the resulting gait is smooth and energy efficient. In addition, the unstable states make the walking faster     

High hardness cubic boron nitride with nanograin microstructure produced by high‐energy milling

High‐energy shaker milling of hexagonal boron nitride (hBN) powders was used to produce powders rich in sp³ bonding. The powders contained up to 68% sp³ bonding and were found to nucleate nanosize cBN grains during consolidation at 5.5 GPa and 1400°C. The effect of hBN starting particle size, milling time, and powder‐to‐milling ball ratio were studied. The amount of sp³ bonding for milled hBN powders was determined, using ¹¹B solid‐state NMR. The milled material was also analyzed by XRD, Raman spectroscopy, and HRTEM. The results indicate that the material has a nanosized microstructure comprised of a disordered hBN matrix and cBN nuclei in the form of sp³‐rich domains. Eight different milled powders were produced and consolidated at pressures of either 5.5 or 6.5 GPa and temperatures of either 1400°C or 1450°C into 12 mm diameter and 5 mm thick pellets. Consolidated pellets formed from milled hBN with 68% sp³ bonding had Vickers hardness of 42 ± 1 GPa and fracture toughness 3.8 ± 0.1 MPa.m^1/2. Vickers hardness of 49 ± 1 GPa and fracture toughness of 4.6 ± 0.1 MPa.m^1/2 was achieved with a precursor that contained milled hBN and 50 vol. % of 0.5 μm diameter cBN crystals.