Learning soft computing control strategies in a modular neural network architecture

Modelling and control of nonlinear dynamical systems is a challenging problem since the dynamics of such systems change over their parameter space. Conventional methodologies for designing nonlinear control laws, such as gain scheduling, are effective because the designer partitions the overall complex control into a number of simpler sub-tasks. This paper describes a new genetic algorithm based method for the design of a modular neural network (MNN) control architecture that learns such partitions of an overall complex control task. Here a chromosome represents both the structure and parameters of an individual neural network in the MNN controller and a hierarchical fuzzy approach is used to select the chromosomes required to accomplish a given control task. This new strategy is applied to the end-point tracking of a single-link flexible manipulator modelled from experimental data. Results show that the MNN controller is simple to design and produces superior performance compared to a single neural network (SNN) controller which is theoretically capable of achieving the desired trajectory. (C) 2003 Elsevier Ltd. All rights reserved.

Mineralogy of selected geological deposits from the United Kingdom and the Republic of Ireland as possible capping materials for low-level radioactive waste disposal facilities

Solid low-level radioactive waste (LLW) is currently being disposed at a number of facilities in the United Kingdom (UK). The safety of these facilities relies to some extent on the use of engineered barriers, such as a cap, to isolate the waste and protect the environment. Generally, the material used as the barrier layer within such a cap should be of low permeability and it should retain this property over long timescales (beyond a few decades normally required for facilities containing non-radioactive wastes). The objective of this research is to determine the mineralogy of selected geological deposits from the UK and Ireland as part of a larger project to examine their suitability as a capping material, particularly on LLW sites. Mineral transformations, as a result of future climate change, may impact on the long-term performance of the cap and even the disposal facility. X-ray diffraction (XRD) was carried-out on the sand, silt and clay fractions of the London Clay, Belfast Upper Boulder Clay, Irish Glacial Till, Belfast Sleech, and Ampthill Clay geological deposits. Minerals were present that could pose both positive and negative effects on the long-term performance of the cap. Smectite, which has a high shrink swell potential, may produce cracks in London Clay, Belfast Upper Boulder Clay and Ampthill Clay capping material during dry, hotter periods as a possible consequence of future climate change; thus, resulting in higher permeability. Ampthill Clay and Belfast Sleech had elevated amounts of organic matter (OM) at 5.93% and 5.88%, respectively, which may also contribute to cracking. Over time, this OM may decompose and result in increased permeability. Gypsum (CaSO4) in the silt and sand fractions of Ampthill Clay may reduce the impact of erosion during wetter periods if it is incorporated into the upper portion of the cap. There are potential negative effects from the acidity created by the weathering of pyrite (FeS2) present in the silt and sand fractions of Belfast Sleech and Ampthill Clay that could impede the growth of grasses used to stabilize the surface of the capping material if this material is used as part of the vegetative soil layer. Additionally, acidic waters generated from pyrite weathering could negatively impact the lower lying capping layers and the disposal facility in general. However, the calcium carbonate (CaCO3) present in the silt and sand fractions of these deposits, and dolomite (CaMg(CO3)2) in Belfast Sleech, may counter act the acidity.

From Empire to Iraq and the "War on Terror": The Transplanation and Commodification of the (Northern) Irish Policing Experience

Charting the enduring export appeal of policing models from (Northern) Ireland, this article sheds some light on the processes by which policing models are communicated and actively promoted to the global policing environment. The authors demonstrate how the transplantation of the Irish colonial model (ICM) represents an early example of the globalization of policing. The legacy of counterinsurgency expertise embedded within the ICM remains a historical constant and is a key factor in relation to the increasing commodification of the contemporary Northern Irish policing model, a model that successfully blends counterterrorism experience with a template for democratic policing reform. By juxtaposing these models, the authors provide a conceptual framework through which to assess the contemporary substance of policing transfer. The authors conclude by suggesting that the seductiveness of these policing models is largely attributable to lessons in counterinsurgency and notions of "Ireland as the solution" to a host of complex security scenarios.

Integrating situational and dispositional determinants of job satisfaction: Findings from three samples of professionals

Job satisfaction can be conceptualized as a function of situational conditions, personal characteristics, and interactions between both groups of variables. The authors compared the relative predictive power of these determinants in 3 samples of professionals (total N = 1,065). Perceived job characteristics (qualification possibilities, social support, stress, autonomy, participatory leadership) uniquely explained 7-22% of the variance in job satisfaction, and dispositional factors (Big Five, occupational self-efficacy, work centrality, mastery goals) uniquely explained 8-12% of the variance. Dispositional influences were partially mediated by perceived job characteristics. Interactions between situational and dispositional factors were of little significance. The authors concluded that perceived job characteristics (especially autonomy and participatory leadership) are important determinants of job satisfaction, and neuroticism is an important determinant as well. Highly educated professionals job satisfaction also seems to be driven by qualification possibilities.

Dilute acid hydrolysis of Lignocellulosic biomass

The overall aim of this work was to establish the optimum conditions for acid hydrolysis of hemicellulosic biomass in the form of potato peel. The hydrolysis reaction was undertaken in a 1l high pressure pilot batch reactor using dilute phosphoric acid. Analysis of the decomposition rate of hemicellulosic biomass (namely Cellulose, Hemicellulose and lignin) was undertaken using HPLC of the reaction products namely, 5 and 6 carbon sugars. Process parameters investigated included, reactor temperature (from 135 degrees C to 200 degrees C) and acid concentration (from 2.5% (w/w) to 10% (w/w)). Analysis of the reactor products indicated that high conversion of cellulose to glucose was apparent although arabinose conversion was quite low due to thermally un-stability. However, an overall sugar yield is 82.5% was achieved under optimum conditions. This optimum yield was obtained at 135 degrees C and 10% (w/w) acid concentration. 55.2 g sugar/100 g dry potato peel is produced after a time of 8 min. The work indicates that the use of potato peel may be a feasible option as a feed material for the production of sugars for biofuel synthesis, due its low cost and high sugar yields. (C) 2009 Elsevier B.V. All rights reserved.

Ionic liquids as solvents for near-infrared emitting lanthanide complexes

It is shown that ionic liquids are promising solvents for near-infrared emitting lanthanide complexes, because ionic liquids are polar non-coordinating solvents that can solubilize lanthanide complexes. Neodymium(III) tosylate, bromide, triflate and sulfonylimide complexes were dissolved in 1-alkyl-3-methylimidazolium ionic liquids that contain the same anion as the neodymium(III) complexes. Near-infrared luminescence spectra of these neodymium(III) salts were measured by direct excitation of the neodymium(III) ion. The absorption spectra show detailed crystal-field fine structure and Judd-Ofelt parameters have been determined. Intense near-infrared luminescence was observed upon ligand excitation for neodymium(III) complexes with 1,10-phenanthroline or beta-diketonate ligands. (C) 2004 Elsevier B.V. All rights reserved.

Temporal changes in the distribution of native and introduced freshwater amphipods in Lough Neagh, Northern Ireland

Studies of invasion scenarios over long time periods are important to refine explanations and predictions of invasion success and impact. We used data from surveys in 1958 and 1999 of the macroinvertebrates of Lough Neagh, Northern Ireland, to assess changes in the distribution of native and introduced amphipods in relation to the wider assemblage. In 1958, the invader G. tigrinus dominated the shoreline fauna, with the native G. d. celticus present in very low numbers, whereas in 1999 the reverse was evident. In both surveys, G. tigrinus was the only amphipod present in the mid-Lough. G. tigrinus thus seems to have become established within L. Neagh, perhaps overshot and then senesced, with the native species re-establishing on the shoreline, with the invader mostly restricted to the deep mid-Lough. The non-amphipod macroinvertebrate assemblage was similar between the two surveys, in terms of Bray-Curtis community similarity, assemblage diversity, dominance and the taxa based ASPT water quality index. However, the mean density of macroinvertebrates (all taxa combined) was lower in 1999 compared to 1958, largely accounted for by a decline in oligochaete numbers. Since Gammarus species may be predators of other macroinvertebrates and influence their distribution and abundance, we investigated this trophic link in staged laboratory encounters. Both G. tigrinus and G. d. celticus preyed on isopods, alderflies, mayflies, chironomids and mysids, however, the native G. d. celticus had a significantly greater predatory impact on isopods and chironomids than did the invader G. tigrinus. While we cannot definitively ascribe cause and effect in the present scenario, we discuss how replacement of one amphipod species by another may have impacts on the wider macroinvertebrate assemblage.

Developing a model of innovation implementation for UK SMEs: A path analysis and explanatory case analysis

Continuous large-scale changes in technology and the globalization of markets have resulted in the need for many SMEs to use innovation as a means of seeking competitive advantage where innovation includes both technological and organizational perspectives (Tapscott, 2009). However, there is a paucity of systematic and empirical research relating to the implementation of innovation management in the context of SMEs. The aim of this article is to redress this imbalance via an empirical study created to develop and test a model of innovation implementation in SMEs. This study uses Structural Equation Modelling (SEM) to test the plausibility of an innovation model, developed from earlier studies, as the basis of a questionnaire survey of 395 SMEs in the UK. The resultant model and construct relationship results are further probed using an explanatory multiple case analysis to explore ‘how’ and ‘why’ type questions within the model and construct relationships. The findings show that the
effects of leadership, people and culture on innovation implementation are mediated by business improvement activities relating to Total Quality Management/Continuous Improvement (TQM/CI) and product and process developments. It is concluded that SMEs have an opportunity to leverage existing quality and process improvement activities to move beyond continuous
improvement outcomes towards effective innovation implementation. The article concludes by suggesting areas suitable for further research.

Novel Venom Proteins Produced by Differential Domain-Expression Strategies in Beaded Lizards and Gila Monsters (genus Heloderma)

The origin and evolution of venom proteins in helodermatid lizards were investigated by multidisciplinary techniques. Our analyses elucidated novel toxin types resultant from three unique domain-expression processes: 1) The first full-length sequences of lethal toxin isoforms (helofensins) revealed this toxin type to be constructed by an ancestral monodomain, monoproduct gene (beta-defensin) that underwent three tandem domain duplications to encode a tetradomain, monoproduct with a possible novel protein fold; 2) an ancestral monodomain gene (encoding a natriuretic peptide) was medially extended to become a pentadomain, pentaproduct through the additional encoding of four tandemly repeated proline-rich peptides (helokinestatins), with the five discrete peptides liberated from each other by posttranslational proteolysis; and 3) an ancestral multidomain, multiproduct gene belonging to the vasoactive intestinal peptide (VIP)/glucagon family being mutated to encode for a monodomain, monoproduct (exendins) followed by duplication and diversification into two variant classes (exendins 1 and 2 and exendins 3 and 4). Bioactivity characterization of exendin and helokinestatin elucidated variable cardioactivity between isoforms within each class. These results highlight the importance of utilizing evolutionary-based search strategies for biodiscovery and the virtually unexplored potential of lizard venoms in drug design and discovery.