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.

An investigation of Fe XVI emission lines in solar and stellar extreme-ultraviolet and soft X-ray spectra

New fully relativistic calculations of radiative rates and electron impact excitation cross-sections for Fe XVI are used to determine theoretical emission-line ratios applicable to the 251-361 and 32-77 angstrom portions of the extreme-ultraviolet (EUV) and soft X-ray spectral regions, respectively. A comparison of the EUV results with observations from the Solar Extreme-Ultraviolet Research Telescope and Spectrograph (SERTS) reveals excellent agreement between theory and experiment. However, for emission lines in the 32-49 angstrom portion of the soft X-ray spectral region, there are large discrepancies between theory and measurement for both a solar flare spectrum obtained with the X-Ray Spectrometer/Spectrograph Telescope (XSST) and for observations of Capella from the Low- Energy Transmission Grating Spectrometer (LETGS) on the Chandra X-ray Observatory. These are probably due to blending in the solar flare and Capella data from both first-order lines and from shorter wavelength transitions detected in second and third order. By contrast, there is very good agreement between our theoretical results and the XSST and LETGS observations in the 50-77 angstrom wavelength range, contrary to previous results. In particular, there is no evidence that the Fe XVI emission from the XSST flare arises from plasma at a much higher temperature than that expected for Fe XVI in ionization equilibrium, as suggested by earlier work.

Colonisation and modification of soft substratum habitats by the invasive macroalga Sargassum muticum

Sargassum muticum is an invasive brown macroalga that originates from Japan. In the introduced range, thalli can grow in soft substratum habitats attached to embedded rock fragments and shells, Within Strangford Lough, Northern Ireland, S. muticum has rapidly colonised large areas of soft substrata, where dispersal by peripatetic or 'stone-walking' plants is very effective. Sediment cores were collected under and outside canopies of S. muticum in Strangford Lough (S. muticum first recorded there in 1995) and Langstone Harbour, English Channel (S. muticum first found there in 1974) to investigate modification of the infaunal assemblages. At both study sites, community analyses highlighted significant differences between the assemblages under the canopies and those in adjacent unvegetated areas. In Strangford Lough, the invertebrate community under the canopy contained a higher abundance of smaller, opportunistic, r-selected species than outside the canopy. By contrast, the communities under and outside the canopy at Langstone Harbour were similar in species composition, diversity and dominance, but overall faunal abundance was greater under the canopy. Sediment characteristics were not affected by S. muticum canopies, but the infaunal changes may be related to environmental modification; shading, flow suppression and temperature stratification were also investigated. The differences between these 2 sites indicate that localised conditions and/or the duration of colonisation of S. muticum are important in determining the nature of habitat modification.

A high-resolution soft x-ray spectrometer on the MAST tokamak

A curved crystal spectrometer in Johann configuration has been implemented on MAST to obtain values for electron temperature, ion temperature and toroidal velocity. The spectrometer is used to examine medium Z impurities in the soft x-ray region by utilising a Silicon (111) crystal, bent using a 4 pin bending jig, and a CCD detector (Deltat=8 ms). Helium-like Argon emissions from 3.94 to 4.00 Angstrom have been examined using a crystal radius of 859.77 mm. The Bragg angle and crystal radius can be adjusted with relative ease. The spectrometer can be scanned toroidally and poloidally to include a radial view which facilitates absolute velocity measurements by assuming radial velocity =0. Doppler shifts of 2.3x10(-5) Angstrom (1.8 kms(-1)) can be measured. The line of sight is shared with a neutral particle analyzer, which enables in situ ion temperature comparisons. Ray tracing has been used for the development of new imaging spectrometers, using spherical/toroidal crystals, planned to be implemented on MAST. (C) 2004 American Institute of Physics.

Measurements of the XUV transmission of aluminium with a soft x-ray laser

We have used XUV lasers to make absolute measurements of the photoabsorption coefficient of Al at energies just below that of the L3 absorption edge at 72.7 eV. Transmission measurements at photon energies of 53.7 and 63.3 eV have been made using Ne-like Ni and Ge XUV lasers. The XUV laser output was recorded in first and second orders using a flat-field spectrometer. Al foils with steps of various thicknesses were placed over the first order diffracted signal, while the second order diffraction was used to monitor the beam profile at each position. The transmission data agree extremely well with the original measurements at these wavelengths made by Henke and co-workers (Henke B L, Gullikson E M and Davis J C 1993 At. Data Nucl. Data Tables 54 18 1), but are in conflict with subsequent measurements which are currently in common use (Gullikson E M, Denham P, Mrowka S and Underwood J H 1994 Phys. Rev. B 49 16 283). The exact values of the absorption coefficients in this region of the spectrum have significant implications for the diagnosis of the energy and intensity output of XUV lasers.

Dramatic solvent effects on ring-opening metathesis polymerization of cycloalkenes

A series of metathesis polymers and copolymers have been formed and their structures were analysed by C-13 NMR spectroscopy. Noble metal and non-noble metal salt catalysts are distinguished by their behaviour in various solvents. Thus, in phenolic solvents, the former class produce alternating copolymers from cyclopentene and norbornene, while the latter are unaffected and produce random copolymers. In contrast, ether solvents have the effect of markedly increasing the cis content of polymers from the latter catalysts while the former are unaffected.

Characteristics of RuCl2(CHPh)(PCy3)(2) as a catalyst for ring-opening metathesis polymerization

Ring-opened metathesis polymers and copolymers have been formed from norbornene, norbornadiene, a range of their derivatives, and cyclopentene using RuCl2(CHPh)(PCy3)(2), as catalyst. C-13 NMR analysis of the polymers illustrate a rather selective propagation reaction. The catalyst is highly regioselective, and the polymers are generally high trans with a strong isotactic bias. However, polymers from diene monomers tend to be less isotactic than those from the corresponding monoenes, and in the case of 7-methylnorbornadiene the polymer has an overall syndiotactic bias. A rate enhancing effect, noted previously, due to an oxygen atom proximate to the monomer double bond, is less pronounced than with other initiators. Catalyst activity, in the case of certain diene monomers, was shown to be monomer dependent and rate enhancements were also achieved using phenol as solvent. The results are interpreted in terms of the steric and electronic properties of both the catalyst and the monomers.

Where there is smoke, there is (the potential for) fire: soft indicators of research and policy impact

There is a growing literature examining the impact of research on informing policy, and of research and policy on practice. Research and policy do not have the same types of impact on practice but can be evaluated using similar approaches. Sometimes the literature provides a platform for methodological debate but mostly it is concerned with how research can link to improvements in the process and outcomes of education, how it can promote innovative policies and practice, and how it may be successfully disseminated. Whether research-informed or research-based, policy and its implementation is often assessed on such 'hard' indicators of impact as changes in the number of students gaining five or more A to C grades in national examinations or a percentage fall in the number of exclusions in inner city schools. Such measures are necessarily crude, with large samples smoothing out errors and disguising instances of significant success or failure. Even when 'measurable' in such a fashion, however, the impact of any educational change or intervention may require a period of years to become observable. This paper considers circumstances in which short-term change may be implausible or difficult to observe. It explores how impact is currently theorized and researched and promotes the concept of 'soft' indicators of impact in circumstances in which the pursuit of conventional quantitative and qualitative evidence is rendered impractical within a reasonable cost and timeframe. Such indicators are characterized by their avowedly subjective, anecdotal and impressionistic provenance and have particular importance in the context of complex community education issues where the assessment of any impact often faces considerable problems of access. These indicators include the testimonies of those on whom the research intervention or policy focuses (for example, students, adult learners), the formative effects that are often reported (for example, by head teachers, community leaders) and media coverage. The collation and convergence of a wide variety of soft indicators (Where there is smoke …) is argued to offer a credible means of identifying subtle processes that are often neglected as evidence of potential and actual impact (… there is fire).

Soft x-ray free electron laser microfocus for exploring matter under extreme conditions

We have focused a beam (BL3) of FLASH (Free-electron LASer in Hamburg: lambda = 13.5 nm, pulse length 15 fs, pulse energy 10-40 mu J, 5Hz) using a fine polished off-axis parabola having a focal length of 270 mm and coated with a Mo/Si multilayer with an initial reflectivity of 67% at 13.5 nm. The OAP was mounted and aligned with a picomotor controlled six-axis gimbal. Beam imprints on poly(methyl methacrylate) -PMMA were used to measure focus and the focused beam was used to create isochoric heating of various slab targets. Results show the focal spot has a diameter of