Swing-up and stability control of Wheeled Acrobot (WAcrobot)

In this paper the Wheeled Acrobot (WAcrobot), a novel mechanical system consisting of an underactuated double inverted pendulum robot (Acrobot) equipped with actuated wheels, is described. This underactuated and highly nonlinear system has potential applications in mobile manipulators and leg-wheeled robots. It is also a testbed for researchers studying advanced methodologies in nonlinear control. The control system for swing-up of the WAcrobot based on collocated or non-collocated feedback linearisation to linearise the active or passive Degree Of Freedom (DOF) followed by Linear Quadratic Regulator (LQR) to stabilise the robot is discussed. The effectiveness of the proposed scheme is validated with numerical simulation. The numerical results are visualised by graphical simulation to demonstrate the correlation between the numerical results and the WAcrobot physical response.

A multiple population genetic algorithm and its application in fuzzy controller

Genetic Algorithm is an important optimization technique, though its application in Fuzzy system is usually limited by problems like local optimal and premature convergence. With an aim to improve the performance of simple Genetic Algorithm, we propose a multi-population genetic algorithm MP-GA which uses two populations collaborating with each other, and apply it to fuzzy controller design to optimize its control rules. The simulation results of Inverted Pendulum demonstrate the effectiveness of this proposed method.

Sliding mode-like learning control for SISO complex systems with T-S fuzzy models

In this paper, a sliding mode-like learning control scheme is developed for a class of single input single output (SISO) complex systems. First, the Takagi-Sugeno (T-S) fuzzy modelling technique is employed to model the uncertain complex dynamical systems. Second, a sliding mode-like learning control is designed to drive the sliding variable to converge to the sliding surface, and the system states can then asymptotically converge to zero on the sliding surface. The advantages of this scheme are that: 1) the information about the uncertain system dynamics and the system model structure is not required for the design of the learning controller; 2) the closed-loop system behaves with a strong robustness with respect to uncertainties; 3) the control input is chattering-free. The sufficient conditions for the sliding mode-like learning control to stabilise the global fuzzy model are discussed in detail. A simulation example for the control of an inverted pendulum cart is presented to demonstrate the effectiveness of the proposed control scheme.

Compact stacked planar inverted-F antenna for passive deep brain stimulation implants

A compact meandered three-layer stacked circular planar inverted-F antenna is designed and simulated at the UHF band (902.75 – 927.25 MHz) for passive deep brain stimulation implants. The UHF band is used because it offers small antenna size, and high data rate. The top and middle radiating layers are meandered, and low cost substrate and superstrate materials are used to limit the radius and height of the antenna to 5 mm and 1.64 mm, respectively. A dielectric substrate of FR-4 of εr= 4.7 and δ= 0.018, and a biocompatible superstrate of silicone of er= 3.7 and d= 0.003 with thickness of 0.2 mm are used in the design. The resonance frequency of the proposed antenna is 918 MHz with a bandwidth of 24 MHz at return loss of −10 dB in free space. The antenna parameter such as 3D gain pattern of the designed antenna within a skin-tissue model is evaluated by using the finite element method. The compactness, wide bandwidth, round shape, and stable characteristics in skin make this antenna suitable for DBS. The feasibility of the wireless power transmission to the implant in the human head is also examined.

Rapid multi sample DNA amplification using rotary-linear polymerase chain reaction device (PCRDisc)

Multiple sample DNA amplification was done by using a novel rotary-linear motion polymerase chain reaction (PCR) device. A simple compact disc was used to create the stationary sample chambers which are individually temperature controlled. The PCR was performed by shuttling the samples to different temperature zones by using a combined rotary-linear movement of the disc. The device was successfully used to amplify up to 12 samples in less than 30 min with a sample volume of 5 μl. A simple spring loaded heater mechanism was introduced to enable good thermal contact between the samples and the heaters. Each of the heater temperatures are controlled by using a simple proportional–integral–derivative pulse width modulation control system. The results show a good improvement in the amplification rate and duration of the samples. The reagent volume used was reduced to nearly 25% of that used in conventional method.

Chiral organochlorosilanes derived from terpenes: diastereoselective hydrosilylation of methylene bicyclo[2.2.1]heptanes with HSiMenCln-2 (n=0-2)

The H₂PtCl₆ catalysed hydrosilylation of the terpenes (+)-α-fenchene (XI), (−)-2-methylene bornane (XII), (+)-camphene (XIII) and (−)-3-methylene fenchane (XIV) using HSiMe₂Cl or HSiMeCl₂ proceeds with high regioselectively and in some cases, with high diastereoselectivity. KF-assisted oxidation of the hydrosilylation products gives predominately endo-terpene alcohols. The alcohols have inverted endo/exo ratios to those formed by oxidative hydroboration. Reaction of XIV with HSiMe₂Cl or HSiMeCl₂ is accompanied by a clean rearrangement of the isocamphane skeleton into (+)-2-methylene bornane (XII) prior to hydrosilylation.

The hydrosilylation of α-fenchene, 2-methylene bornane, camphene and 3-methylene fenchane with chlorosilanes HSiMe_nCl_n − 2 (n=0–2) occurred with varying degrees of diastereoselectivity providing anti-Markovnikov product mixtures, in which the endo-isomers dominate over the exo-isomers. These mixtures were oxidized to give the corresponding terpene alcohols. 3-Methylene fenchane undergoes a rearrangement into 2-methylene bornane prior to hydrosilylation.

Indonesian masculinities : images of men in Indonesian TV advertising

This article examines images of men in Indonesian popular culture, focussing on TV advertising in particular.  Extending previous feminist scholarship on gendered representations in the Indonesian media, this article suggests that on the surface, Indonesian TV commercials reinforce and streobrthen male dominance in Indonesian society, promoting the notion that a man's primary roles are public ones, and a woman's primary roles are domestic ones. However, this investigation also suggests that so-called 'domesticated' women are also represented as actors in the public sphere, in roles as earners and spenders. This observation correlates with the argument that from the late New Order period, in media representation - and in some small sections of society, even in practice - women and men in Indonesia were becoming increasingly more equal (Sen, 1994, 2002). But is the pendulum of gender relations now swinging the other way? By examining Indonesian popular culture from the perspective of what it reveals about men and masculinity, this paper argues that a significant number of TV commercials may point towards another emergent trend in contemporary Indonesian popular culture: the rise of misandry, which is defined as a negative or contemptuous attitude towards men, 'the sexist counterpart of misogyny' (Nathanson and Young 2001, ix).

A reinforcement learning approach for robot control in an unknown environment

In this paper, a control approach based on reinforcement learning is present for a robot to complete a dynamic task in an unknown environment. First, a temporal difference-based reinforcement learning algorithm and its evaluation function are used to make the robot learn with its trials and errors as well as experiences. Second, the simulation are carried out to adjust the parameters of the learning algorithm and determine an optimal policy by using the models of a robot. Last, the effectiveness of the present approach is demonstrated by balancing an inverse pendulum in the unknown environment.

Simulation-based support tool for operator performance in batch manufacturing

In industry, the workload and utilization of shop floor operators is often misunderstood. In this paper, we will present several real case studies, using Discrete Event Simulation (DES) models, which allow us to better understand operators in a batch manufacturing environment. The first study investigates labour in a machining plant consisting of multiple identical CNC machines that batch produce parts. The second study investigates labour in an eight station, gravity die casting rotary table. The results from these studies have shown that there can be potential improvements made by the production planners in the current labour configuration. In the first case study, a matrix is produced that estimates what the operator's utilization levels will be for various configurations. From this, the preferred operator to machine ratio over a range of cycle times is presented. In the second study, the results have shown that by reducing the casting cycle time, the operator would be overloaded. A discrete event simulation of these two cases highlighted areas that were misunderstood by plant management, and provided them with a useful decision support tool for production planning.

Clinical measurement of muscle tone using a velocity-corrected modified ashworth scale

Objective: To develop a new form of the modified Ashworth scale (MAS) for muscle-tone assessment that combines the MAS score with the passive muscle-stretching velocity during the assessment of muscle tone, resulting in a measure that has higher intertester reliability than the MAS.

Design: Twanty-two volunteer subjects with spinal cord injuries at a tertiary care outpatient and inpatient spinal cord injury rehabilitation center affiliated with a university were recruited for this study.

Results: A decision tree in which V-MAS scores were obtained was developed. The data obtained from three independent raters, when adjusted by means of the V-MAS, showed an excellent interrater reliability.

Conclusions: Results indicated that the V-MAS is a more reliable measure. In addition, the resulting units of the V-MAS, ranging from 0 to 1, are of the same form as pendulum test data. The V-MAS method is quite simple to use because the rater need only measure the angular range and duration of the passive movement to calculate average velocity during the MAS assessment in addition to the normal MAS rating of muscle tone.

Simultaneous state and input estimation with application to a two-link robotic system

This paper addresses the problem of estimating simultaneously the state and input of a nonlinear system with application to a two link robotic manipulator - the Pendubot. The system nonlinearity comprises a Lipschitz function with respect to the state, and a nonlinear term which is a function of both the state and input. It is shown that under some conditions, an observer can be designed to estimate simultaneously the system’s state and input. Simulation and experimental results, obtained around the inverted equilibrium position, are presented to demonstrate the validity of the approach.

Traffic fatalities: does income inequity create an externality?

Responsible for 20 million severe injuries and/or deaths annually, few epidemics receive less attention than traffic accidents. Going beyond confirming an inverted U-shaped relationship between mean income and fatalities, we show theoretically that income inequality can positively affect fatalities in two ways. Each operates through heterogeneity between road users, and while the direct effect can be expected to evaporate with rising income, the indirect effect may prove to be an externality in that the relationship remains regardless of the level of income. Our model is supported by evidence from 79 countries between 1970 and 2000.

Solospun : the long staple weavable singles yarn

Solospun^TM is a spinning technology which provides the means to produce a singles yarn that can be successfully woven as either warp or weft. The technology is a versatile and cost effective alternative to two-folding, Sirospun or sizing. It offers significant benefits in terms of efficiency and productivity. Solospun^TM is a simple, inexpensive, clip-on attachment for the spinning of long staple, weavable singles yarns. The technology is the result of a joint development between CSIRO Textile and Fibre Technology, The Woolmark Company and WRONZ and was commercially released in 1998. It is now successfully operating in worsted mills worldwide. The Solospun^TM hardware consists of a pair of rollers held in a bracket, which is clipped onto the front of the pendulum-drafting arm. Each roller is positioned immediately below, and parallel to, each top front draft roller where it interacts with the emerging drafted fibre strand before twist insertion. The roller-fibre interaction subtly changes the structure of the yarn, which dramatically increases its abrasion resistance. This allows Solospun yarns to be woven without twofolding or sizing, providing significant cost savings. Depending on fabric structure, weaving performance is equivalent to that of conventional two-fold yarns. Fabrics woven from Solospun^TM yarns are of good quality and appearance. Some aspects, including preferred hand and FAST results, are equal or superior to two-fold yarn fabrics. As with compact and condensed spinning, Solospun^TM offers significant reductions in yarn
hairiness. However, Solospun can be simply implemented on existing spinning frames and goes much further by making the singles yarns weavable.