Sliding mode control-based algorithms for consensus in connected swarms

In this article, finite-time consensus algorithms for a swarm of self-propelling agents based on sliding mode control and graph algebraic theories are presented. Algorithms are developed for swarms that can be described by balanced graphs and that are comprised of agents with dynamics of the same order. Agents with first and higher order dynamics are considered. For consensus, the agents' inputs are chosen to enforce sliding mode on surfaces dependent on the graph Laplacian matrix. The algorithms allow for the tuning of the time taken by the swarm to reach a consensus as well as the consensus value. As an example, the case when a swarm of first-order agents is in cyclic pursuit is considered.

Exploiting Programmable Network Interfaces for Parallel Query Execution in Workstation Clusters

Workstation clusters equipped with high performance interconnect having programmable network processors facilitate interesting opportunities to enhance the performance of parallel application run on them. In this paper, we propose schemes where certain application level processing in parallel database query execution is performed on the network processor. We evaluate the performance of TPC-H queries executing on a high end cluster where all tuple processing is done on the host processor, using a timed Petri net model, and find that tuple processing costs on the host processor dominate the execution time. These results are validated using a small cluster. We therefore propose 4 schemes where certain tuple processing activity is offloaded to the network processor. The first 2 schemes offload the tuple splitting activity - computation to identify the node on which to process the tuples, resulting in an execution time speedup of 1.09 relative to the base scheme, but with I/O bus becoming the bottleneck resource. In the 3rd scheme in addition to offloading tuple processing activity, the disk and network interface are combined to avoid the I/O bus bottleneck, which results in speedups up to 1.16, but with high host processor utilization. Our 4th scheme where the network processor also performs apart of join operation along with the host processor, gives a speedup of 1.47 along with balanced system resource utilizations. Further we observe that the proposed schemes perform equally well even in a scaled architecture i.e., when the number of processors is increased from 2 to 64

A hybrid nine-level inverter for IM drive

This paper proposes a new hybrid nine-level inverter topology for IM drive. The nine-level structure is realized by using two three-phase two-level inverters fed by isolated DC voltage sources and six H-bridges fed by capacitors. The number of switches required in this topology is only 36 where as the conventional nine-level topologies require 48 switches. The voltages across the capacitors, feeding the H-bridges that operate at asymmetric voltages, are effectively balanced by making use of the switching state redundancies. In this topology, the requirement of DC link voltage is only half of the maximum magnitude of the voltage space vector. As the two-level inverters are powered by isolated voltage sources, the circulation of triplen harmonic current in the motor winding is prevented. The proposed drive system is capable of functioning in three-level mode in case of any switch failure in H-bridges. The performance of the proposed topology in the entire modulation range is verified by simulation study and experiment.

Static balancing of a four-bar linkage and its cognates

Motivated by the need to statically balance the inherent elastic forces in linkages, this paper presents three techniques to statically balance a four-bar linkage loaded by a zero-free-length spring attached between its coupler point and an anchor point on the ground. The number of auxiliary links and balancing springs required for the three techniques is less than or equal to that of the only technique currently in the literature. One of the three techniques does not require auxiliary links. In these techniques, the set of values for the spring constants and the ground-anchor point of the balancing springs can vary over a one-parameter family. Thrice as many balancing choices are available when the cognates are considered. The ensuing numerous options enable a user to choose the most practical solution. To facilitate the evaluation of the balancing choices for all the cognates, Roberts-Chebyshev cognate theorem is extended to statically balanced four-bar linkages. (C) 2011 Elsevier Ltd. All rights reserved.

Cerebroprotective activity of Wedelia calendulacea on global cerebral ischemia in rats

The present study was to investigate the effect of W. calendulacea on ischemia and reperfusion-induced cerebral injury. Cerebral ischemia was induced by occluding right and left common carotid arteries (global cerebral ischemia) for 30 min followed by reperfusion for 1 h and 4 h individually. Various biochemical alterations, produced subsequent to the application of bilateral carotid artery occlusion (BCAO) followed by reperfusion viz. increase in lipid peroxidation (LPO), hydrogen peroxide (H(2)O(2)), and decrease in reduced glutathione (GSH), catalase (CAT) and superoxide dismutase (SOD), level in the brain tissue, Western blot analysis (Cu-Zn-SOD and CAT) and assessment of cerebral infarct size were measured. All those enzymes are markedly reversed and restored to near normal level in the groups pre-treated with W. calendulacea (250 and 500 mg/kg given orally in single and double dose/day for 10 days) in dose-dependent way. The effect of W. calendulacea had increased significantly the protein expression of copper/zinc superoxide dismutase (Cu-Zn-SOD) and CAT in cerebral ischemia. W. claendulacea was markedly decrease cerebral infarct damages but results are not statistically significant. It can be concluded that W. calendulacea possesses a neuroprotective activity against cerebral ischemia in rat.

Passive vibration isolation of reaction wheel disturbances using a low frequency flexible space platform

Reaction wheel assemblies (RWAs) are momentum exchange devices used in fine pointing control of spacecrafts. Even though the spinning rotor of the reaction wheel is precisely balanced to minimize emitted vibration due to static and dynamic imbalances, precision instrument payloads placed in the neighborhood can always be severely impacted by residual vibration forces emitted by reaction wheel assemblies. The reduction of the vibration level at sensitive payloads can be achieved by placing the RWA on appropriate mountings. A low frequency flexible space platform consisting of folded continuous beams has been designed to serve as a mount for isolating a disturbance source in precision payloads equipped spacecrafts. Analytical and experimental investigations have been carried out to test the usefulness of the low frequency flexible platform as a vibration isolator for RWAs. Measurements and tests have been conducted at varying wheel speeds, to quantify and characterize the amount of isolation obtained from the reaction wheel generated vibration. These tests are further extended to other variants of similar design in order to bring out the best isolation for given disturbance loads. Both time and frequency domain analysis of test data show that the flexible beam platform as a mount for reaction wheels is quite effective and can be used in spacecrafts for passive vibration control. (C) 2011 Elsevier Ltd. All rights reserved.

A Five-Level Inverter Topology with Single-DC Supply by Cascading a Flying Capacitor Inverter and an H-Bridge

In this paper, a new three-phase, five-level inverter topology with a single-dc source is presented. The proposed topology is obtained by cascading a three-level flying capacitor inverter with a flying H-bridge power cell in each phase. This topology has redundant switching states for generating different pole voltages. By selecting appropriate switching states, the capacitor voltages can be balanced instantaneously (as compared to the fundamental) in any direction of the current, irrespective of the load power factor. Another important feature of this topology is that if any H-bridge fails, it can be bypassed and the configuration can still operate as a three-level inverter at its full power rating. This feature improves the reliability of the circuit. A 3-kW induction motor is run with the proposed topology for the full modulation range. The effectiveness of the capacitor balancing algorithm is tested for the full range of speed and during the sudden acceleration of the motor.

Perfect Static Balance of Linkages by Addition of Springs But Not Auxiliary Bodies

A linkage of rigid bodies under gravity loads can be statically counter-balanced by adding compensating gravity loads. Similarly, gravity loads or spring loads can be counterbalanced by adding springs. In the current literature, among the techniques that add springs, some achieve perfect static balance while others achieve only approximate balance. Further, all of them add auxiliary bodies to the linkage in addition to springs. We present a perfect static balancing technique that adds only springs but not auxiliary bodies, in contrast to the existing techniques. This technique can counter-balance both gravity loads and spring loads. The technique requires that every joint that connects two bodies in the linkage be either a revolute joint or a spherical joint. Apart from this, the linkage can have any number of bodies connected in any manner. In order to achieve perfect balance, this technique requires that all the spring loads have the feature of zero-free-length, as is the case with the existing techniques. This requirement is neither impractical nor restrictive since the feature can be practically incorporated into any normal spring either by modifying the spring or by adding another spring in parallel. DOI: 10.1115/1.4006521]

HUMAN DETECTION USING SPARSE REPRESENTATION

The problem of human detection is challenging, more so, when faced with adverse conditions such as occlusion and background clutter. This paper addresses the problem of human detection by representing an extracted feature of an image using a sparse linear combination of chosen dictionary atoms. The detection along with the scale finding, is done by using the coefficients obtained from sparse representation. This is of particular interest as we address the problem of scale using a scale-embedded dictionary where the conventional methods detect the object by running the detection window at all scales.

Recognition of Kannada characters extracted from scene images

In this paper, we describe a method for feature extraction and classification of characters manually isolated from scene or natural images. Characters in a scene image may be affected by low resolution, uneven illumination or occlusion. We propose a novel method to perform binarization on gray scale images by minimizing energy functional. Discrete Cosine Transform and Angular Radial Transform are used to extract the features from characters after normalization for scale and translation. We have evaluated our method on the complete test set of Chars74k dataset for English and Kannada scripts consisting of handwritten and synthesized characters, as well as characters extracted from camera captured images. We utilize only synthesized and handwritten characters from this dataset as training set. Nearest neighbor classification is used in our experiments.

Bioconvection in an anisotropic scattering suspension of phototactic algae

Phototaxis is a directed swimming response dependent upon the light intensity sensed by microorganisms. Positive phototaxis denotes motion directed towards the source of light and negative phototaxis is motion directed away from it. In this paper, we investigate the onset of bioconvection in a suspension of anisotropic scattering phototactic algae illuminated by collimated radiation at the top. The basic state of the system is defined by the zero fluid flow and the up and down swimming, caused by the positive and negative phototaxis, is balanced by the diffusion. A comprehensive numerical study of the linear stability is presented with particular emphasis on the forward scattering effect. The onset of bioconvection occurs either via a stationary mode or an oscillatory mode. The transition from a stationary mode to an oscillatory mode or vice versa has been observed as the anisotropic coefficient is varied for certain parameter values. (C) 2012 Elsevier Masson SAS. All rights reserved.

Fragment-based real-time object tracking: a sparse representation approach

Real-time object tracking is a critical task in many computer vision applications. Achieving rapid and robust tracking while handling changes in object pose and size, varying illumination and partial occlusion, is a challenging task given the limited amount of computational resources. In this paper we propose a real-time object tracker in l(1) framework addressing these issues. In the proposed approach, dictionaries containing templates of overlapping object fragments are created. The candidate fragments are sparsely represented in the dictionary fragment space by solving the l(1) regularized least squares problem. The non zero coefficients indicate the relative motion between the target and candidate fragments along with a fidelity measure. The final object motion is obtained by fusing the reliable motion information. The dictionary is updated based on the object likelihood map. The proposed tracking algorithm is tested on various challenging videos and found to outperform earlier approach.

Collective behavior with heterogeneous controllers

In this paper, we study the collective motion of individually controlled planar particles when they are coupled through heterogeneous controller gains. Two types of collective formations, synchronization and balancing, are described and analyzed under the influence of these heterogeneous controller gains. These formations are characterized by the motion of the centroid of the group of particles. In synchronized formation, the particles and their centroid move in a common direction, while in balanced formation the movement of particles possess a fixed location of the centroid. We show that, by selecting suitable controller gains, these formations can be controlled significantly to obtain not only a desired direction of motion but also a desired location of the centroid. We present the results for N-particles in synchronized formation, while in balanced formation our analysis is confined to two and three particles.

Model domains in C-3 with abelian automorphism group

It is shown that every hyperbolic rigid polynomial domain in C-3 of finite-type, with abelian automorphism group is equivalent to a domain that is balanced with respect to some weight.

Mono- and Dialkyne Insertion Reactions of Cyclopalladated N,N `,N `'-Triarylguanidines kappa(2)(C,N)Pd(mu-Br)](2) and cis-/trans-kappa(2)(C,N)Pd(Lewis Base)Br]. Scaffolds for Enlarged, Rearranged, and Zwitterionic Palladacycles through Ring Contraction cum Amine-Imine Tautomerization

Insertion reactions of six-membered cyclopalladated N,N',N''-triarylguanidines, kappa(2)(C,N)Pd(mu-Br)](2) with various alkynes in CH2Cl2 under ambient conditions afforded diinserted eight-membered palladacycles, (kappa(2)(C,N):eta(2)(C=C)-PdBr] (1-11), in high yield (76-96%), while insertion reactions of six-membered cyclopalladated N,N',N''-triarylguanidines, kappa(2)(C,N)Pd(Lewis base)Br] (VI-XI), with various alkynes under the aforementioned conditions afforded monoinserted six-membered palladacycles, kappa(2)(C,N)-Pd(Lewis base)Br] (12-21), in high yield (81-91%) except for 14 (23%). The insertion reaction of VI with 2 equiv of dimethyl acetylenedicarboxylate (DMAD) and the insertion reaction of 12 with 1 equiv of DMAD in CH2Cl2 under ambient conditions resulted in the formation of a diinserted zwitterionic five-membered palladacycle, kappa(2)(C,C)Pd(2,6-lutidine)Br] (22), in 76% and 70% yields, respectively. Palladacycle 22 upon reaction with AgOTf in wet MeCN afforded the ionic palladacycle kappa(2)(C,C)Pd(2,6-lutidine)(H2O)]OTf] (23) in 78% yield. The ring size of the ``kappa(2)(C,N)Pd]'' unit in the structurally characterized diinserted palladacycles (1 center dot 2CH(2)Cl(2)center dot H2O, 2, 5, and 7), and monoinserted palladacycles (17, 18, and 20 center dot C7H8 H2O) is smaller than that anticipated for mono- and diinserted palladacycles, and this feature is mainly ascribed to the proclivity of III-XI to undergo ring contraction cum amine-imine tautomerization upon alkyne insertion. Palladacycle 22 represents the first diinserted product obtained in alkyne insertion reactions of kappa(2)(C,N)Pd(Lewis base)X] type palladarycles. The molecular structure of 22 center dot H2O determined by X-ray diffraction indicates that the positive charge on the guanidinium moiety is balanced by the negative charge on the palladium atom and thus represents the first structurally characterized zwitterionic palladacycle to be reported in alkyne insertion chemistry. Plausible mechanisms of formation of 12-21 and 22 have been outlined. The presence of more than one species in solution for some of the palladacycles in the series 1-7 and 12-21 was explained by invoking the C-N single-bond rotation of the CN3 unit of the guanidine moiety, while this process in conjunction with Pd-N(lutidine) bond rotation was invoked to explain the presence of four isomers of 15, as studied with the aid of variable-concentration H-1 NMR experiments carried out for 14 and 15.