Formation control of underactuated bio-inspired snake robots

This paper considers formation control of snake robots. In particular, based on a simplified locomotion model, and using the method of virtual holonomic constraints, we control the body shape of the robot to a desired gait pattern defined by some pre-specified constraint functions. These functions are dynamic in that they depend on the state variables of two compensators which are used to control the orientation and planar position of the robot, making this a dynamic maneuvering control strategy. Furthermore, using a formation control strategy we make the multi-agent system converge to and keep a desired geometric formation, and enforce the formation follow a desired straight line path with a given speed profile. Specifically, we use the proposed maneuvering controller to solve the formation control problem for a group of snake robots by synchronizing the commanded velocities of the robots. Simulation results are presented which illustrate the successful performance of the theoretical approach.     

U-shaped energy loss curves utilization for distributed generation optimization in distribution networks

We propose novel techniques to find the optimal achieve the maximum loss reduction for distribution networks location, size, and power factor of distributed generation （DG） to Determining the optimal DG location and size is achieved simultaneously using the energy loss curves technique for a pre-selected power factor that gives the best DG operation. Based on the network＇s total load demand, four DG sizes are selected. They are used to form energy loss curves for each bus and then for determining the optimal DG options. The study shows that by defining the energy loss minimization as the objective function, the time-varying load demand significantly affects the sizing of DG resources in distribution networks, whereas consideration of power loss as the objective function leads to inconsistent interpretation of loss reduction and other calculations. The devised technique was tested on two test distribution systems of varying size and complexity and validated by comparison with the exhaustive iterative method （EIM） and recently published results. Results showed that the proposed technique can provide an optimal solution with less computation.     

Combination of data replication and scheduling algorithm for improving data availability in Data Grids

Data Grid is a geographically distributed environment that deals with large-scale data-intensive applications. Effective scheduling in Grid can reduce the amount of data transferred among nodes by submitting a job to a node, where most of the requested data files are available. Data replication is another key optimization technique for reducing access latency and managing large data by storing data in a wisely manner. In this paper two algorithms are proposed, first a novel job scheduling algorithm called Combined Scheduling Strategy (CSS) that uses hierarchical scheduling to reduce the search time for an appropriate computing node. It considers the number of jobs waiting in queue, the location of required data for the job and the computing capacity of sites. Second a dynamic data replication strategy, called the Modified Dynamic Hierarchical Replication Algorithm (MDHRA) that improves file access time. This strategy is an enhanced version of Dynamic Hierarchical Replication (DHR) strategy. Data replication should be used wisely because the storage capacity of each Grid site is limited. Thus, it is important to design an effective strategy for the replication replacement. MDHRA replaces replicas based on the last time the replica was requested, number of access, and size of replica. It selects the best replica location from among the many replicas based on response time that can be determined by considering the data transfer time, the storage access latency, the replica requests that waiting in the storage queue and the distance between nodes. The simulation results demonstrate the proposed replication and scheduling strategies give better performance compared to the other algorithms.     

Low voltage second-order alpha function synapse

This paper introduces a Transimpedance Amplifier (TIA) design capable of producing an incremental input resistance in the ohmic range, for input signals in the microampere range, such as are encountered in the design of instrumentation for electrochemical ampero-metric sensors, optical-sensing and current-mode circuits. This low input-resistance is achieved using an input stage incorporating negative feedback. In a Cadence simulation of an exemplary design using a 180 nm CMOS process and operating with?±?1.8 V supply rails, the input resistance is 1.05 ohms and the power dissipation is 93.6 µW. The bandwidth, for a gain of 100 dBohm, exceeded 9 MHz. For a 1µA, 1 MHz sinusoidal input signal the Total Harmonic Distortion, with this gain, is less than 1%. The input referred noise current with zero photodiode capacitance is 2.09 pA/√Hz and with a photodiode capacitance of 2pF is 8.52 pA/√Hz. Graphical data is presented to show the effect of a photodiode capacitance varying from 0.5 to 2 pF, when the TIA is used in optical sensing. In summary, the required very low input resistance, at a low input current level (µA) is achieved and furthermore a Table is included comparing the characteristics and a widely used Figure of Merit (FOM) for the proposed TIA and similar published low-power TIAs. It is apparent from the Table that the FOM of the proposed TIA is better than the FOMs of the other TIAs mentioned.

     

Graph attention-based collaborative filtering for user-specific recommender system using knowledge graph and deep neural networks

Knowledge and Information Systems - Collaborative filtering suffers from the issues of data sparsity and cold start. Due to which recommendation models that only rely on the user–item...     

Semisupervised dimensionality reduction for hyperspectral images based on the combination of semisupervised learning and metric learning

This paper presents a semisupervised dimensionality reduction (DR) method based on the combination of semisupervised learning (SSL) and metric learning (ML) (CSSLML-DR) in order to overcome some existing limitations in HSIs analysis. Specifically, CSSML focuses on the difficulties of high dimensionality of hyperspectral images (HSIs) data, the insufficient number of labelled samples and inappropriate distance metric. CSSLML aims to learn a local metrics under which the similar samples are pushed as close as possible, and simultaneously, the different samples are pulled away as far as possible. CSSLML constructs two local-reweighted dynamic graphs in an iterative two-steps approach: L-step and V-step. In L-step, the local between-class and within-class graphs are updated. In V-step, the transformation matrix and the reduced space are updated. The algorithm is repeated until a stopping criterion is satisfied. Experimental results on two well-known hyperspectral image data sets demonstrate the superiority of CSSLML algorithm compared to some traditional DR methods.     

Selective toxicity of hydroxyl-rich carbon nanodots for cancer research

Nano Research - The toxicity of nanoparticles in a biological system is an integration of effects arising from surface functionality, particle size, ionic dissolution, etc. This complexity suggests...     

Cops and Robbers from a distance

Cops and Robbers is a pursuit and evasion game played on graphs that has received much attention. We consider an extension of Cops and Robbers, distance k Cops and Robbers, where the cops win if at least one of them is of distance at most k from the robber in G. The cop number of a graph G is the minimum number of cops needed to capture the robber in G. The distance k analogue of the cop number, written c_k(G), equals the minimum number of cops needed to win at a given distance k. We study the parameter c_k from algorithmic, structural, and probabilistic perspectives. We supply a classification result for graphs with bounded c_k(G) values and develop an O(n^2s+3) algorithm for determining if c_k(G)≤s for s fixed. We prove that if s is not fixed, then computing c_k(G) is NP-hard. Upper and lower bounds are found for c_k(G) in terms of the order of G. We prove that

     

Multiple robust H∞ controller design using the nonsmooth optimization method

This paper proposes a systematic technique to design multiple robust H_∞ controllers. The proposed technique achieves a desired robust performance objective, which is impossible to achieve with a single robust controller, by dividing the uncertainty set into several subsets and by designing a robust controller to each subset. To achieve this goal with a small number of divisions of the uncertainty set, an optimization problem is formulated. Since the cost function of this optimization problem is not a smooth function, a numerical nonsmooth optimization algorithm is proposed to solve this problem. This method avoids the use of Lyapunov variables, and therefore it leads to a moderate size optimization problem. A numerical example shows that the proposed multiple robust control method can improve the closed‐loop performance when a single robust controller cannot achieve satisfactory performance. Copyright © 2009 John Wiley & Sons, Ltd.     

Deriving operating policies for multi-objective reservoir systems: Application of Self-Learning Genetic Algorithm

Optimal multi-reservoir operation is a multi-objective problem in nature and some of its objectives are nonlinear, non-convex and multi-modal functions. There are a few areas of application of mathematical optimization models with a richer or more diverse history than in reservoir systems optimization. However, actual implementations remain limited or have not been sustained.Genetic Algorithms (GAs) are probabilistic search algorithms that are capable of solving a variety of complex multi-objective optimization problems, which may include non-linear, non-convex and multi-modal functions. GA is a population based global search method that can escape from local optima traps and find the global optima. However GAs have some drawbacks such as inaccuracy of the intensification process near the optimal set.In this paper, a new model called Self-Learning Genetic Algorithm (SLGA) is presented, which is an improved version of the SOM-Based Multi-Objective GA (SBMOGA) presented by Hakimi-Asiabar et al. (2009) [45]. The proposed model is used to derive optimal operating policies for a three-objective multi-reservoir system. SLGA is a new hybrid algorithm which uses Self-Organizing Map (SOM) and Variable Neighborhood Search (VNS) algorithms to add a memory to the GA and improve its local search accuracy. SOM is a neural network which is capable of learning and can improve the efficiency of data processing algorithms. The VNS algorithm can enhance the local search efficiency in the Evolutionary Algorithms (EAs).To evaluate the applicability and efficiency of the proposed methodology, it is used for developing optimal operating policies for the Karoon-Dez multi-reservoir system, which includes one-fifth of Iran's surface water resources. The objective functions of the problem are supplying water demands, generating hydropower energy and controlling water quality in downstream river.