Vision-Based Fuzzy 2D Motion Control of a Model Helicopter

©2006 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or distribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.Presented at NAFIPS 2006 : 2006 Annual Meeting of the North American Fuzzy Information Processing Society : Montréal, Canada, 3-6 June 2006.DOI: 10.1109/NAFIPS.2006.365497In this paper the 2D motion of a model helicopter is studied. The position control of a 2D model helicopter falls into complex nonlinear problems domain which makes it rather hard. In this paper a fuzzy controller is proposed to stabilize the helicopter on a designated target. The 3D model of the helicopter is simplified to derive a 2D model and all the states are assumed to be measurable. Based on the model, it was possible to decouple the position and orientation control of the helicopter. However the two parts are related through a fuzzy rule base. To verify the proposed method a simulation program is written in C++ which takes advantages of OpenGL to enable having 3D features. The response graphs are then presented       

Juxtaposition of Women, Culture, and Nature in Alice Walker's Possessing the Secret of Joy

The present paper focuses on the tradition of women's circumsicion in the African tribe of Olinkan in Alice Walker's Possesing the Secret of Joy. The Olinkans are asked by the white settlers to stop women's mutilation, but Olinkan men continue this custom stealthily to ensure their patriarchial dominance. This novel is a complicated juxtaposition of two different types of oppression: one by White male colonizers over an African native land, and the other one by the native Olinkan men over native women. In this juxtaposition women and land are both victims exploited and manipulated by men, no matter Black or White. This novel is also seen as a fertile ground to analyze the dual domination of both nature and women by the Olinkan men and White colonizers who are both trying to impose their androcentric rules that are created to dominate women and land, respectively

Optimum Scheme for Insulation System in HV Generator Based on Electromagnetic Analysis

Electrical insulations are one of the basic parts of electrical machinery in any sizes and characteristics. Focusing on insulating, studies on the operation of industrial-electrical machinery came to the fact that the most important part of a machine is the Stator. This fact reveals the requirement for inspection of the electrical machine insulation along with the electromagnetic tensions. Therefore with respect to insulation system improvement of stator, the HV generator can be optimized. Dielectric parameters such as insulation thickness, spacing, material types, geometry of winding and slot are major design consideration. A very powerful method available to analyze electromagnetic performance is Finite Element Method (FEM) which is used in this paper. The analysis of various stator coil and slot configurations are used to design the better dielectric system to reduce electrical stresses in order to increase the power of generator in the same volume of core. These processes of optimization have been done according the proposed algorithm. In this algorithm the technical constraints have been considered. This paper describes the process used to perform classical design and improvement analysis of stator slot’s insulation with respect to objective function and constraints

On Maximum Signless Laplacian Estrada Indices of Graphs with Given Parameters

Signless Laplacian Estrada index of a graph $G$, defined as $SLEE(G)=\sum^{n}_{i=1}e^{q_i}$, where $q_1, q_2, \cdots, q_n$ are the eigenvalues of the matrix $\mathbf{Q}(G)=\mathbf{D}(G)+\mathbf{A}(G)$. We determine the unique graphs with maximum signless Laplacian Estrada indices among the set of graphs with given number of cut edges, pendent vertices, (vertex) connectivity and edge connectivity.Comment: 14 pages, 3 figure

The stability study of myristyl dimethyl amine oxide as an amphoteric surfactant in strong oxidant media containing 5 % m/m sodium hypochlorite through measurement of decomposing rate using high performance liquid chromatography and two phase titration

Myristyl dimethyl amine oxide is a surface-active agent (surfactant) that has been used in recent years widely in detergent industry as the foaming agent and a viscousing agent. Although this type of surfactants are very stable, however, in some specific chemical media such as strong acid and alkaline cleaners, oxidant media containing sodium hypochlorite may not have sufficient stability. In this study, we will study the effective variables on the decomposition of mirystyl dimethyl amine oxide surfactant with trading name of "Ammonyx" and obtain the rate constant and reaction order of decomposition reaction of the surfactant in specific chemical media for each of these variables and finally the rate law of decomposition. The results of this study show that the decomposition rate of the Ammonyx surfactant to the concentration of NaOH is first-order and the rate constants at three temperatures to 4, 20 and 47 degrees of Celsius are 1.8655×10-4, 2.7548×10-4 and 4.3294×10-4 hr-1 respectively. The Ammonyx surfactants decomposition rate relative to the NaClO concentration is first-order and the rate constant in the three mentioned temperatures is 3.4682×10-4, 4.9251×10-4 and 7.2582×10-4 hr-1 respectively.Finally, the decomposition rate of Ammonyx relative to surfactant concentration (like other two variables) is first-order and the rate constant at above temperatures equal to 1.6892×10-4, 3.2205×10-4 and 5.8045×10-4 hr-1 respectively.The activation energy for the decomposition of Ammonyx in collision with NaOH, NaClO and the surfactant molecules equals to 14.3, 12.55, 20.85 kJ mol and Arrhenius constants for these molecules equals to 0.0975 hr-1, 0.0823 hr-1 and 0.6542 hr-1 respectively.In addition, for comparing the accuracy of the two-phase titration results, high performance liquid chromatography HPLC method has also been used. For this purpose, surfactant concentrations in some samples under study were also measured by using analytical HPLC system. The results showed that two-phase titration data have good agreement with HPLC data but chromatography has less accuracy and precision from two phase titration method.Keywords: Myristyl dimethyl amine oxide, Two-phase titration, Reaction rate, Reaction order, surfactant analysis, Bleaching agent