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       

A review on cement degradation under CO2-rich environment of sequestration projects

Global warming arising from the release of greenhouse gasses into the atmosphere is one of the biggest issues attracting a lot of attention. One of the conventional problems in sequestration projects is the degradation of Portland cement due to its exposure to supercritical CO2. This paper gives a review on the laboratory work performed to understand changes in the mechanical and transport properties of cement when it is in a CO2 rich environment. The results obtained indicated that pozzolanic material could be useful in enhancing the cement resistance against CO2, although more studies are still required to confirm this conclusion

[H2-Cryptand 222]2+(Br3 –)2 as a Tribromide-Type Catalyst for the Trimethylsilylation/Tetrahydropyranylation of Alcohols

A stable organic tribromide, [H2-cryptand 222]2+(Br3–)2 was utilized as an active catalyst for the trimethylsilylation/tetrahydropyranylation of alcohols. The method is general for the preparation of OH-protected aliphatic (acyclic and cyclic), aromatic, primary, secondary and tertiary alcohols.Keywords: [H2-cryptand 222]2+(Br3–)2, trimethylsilylation, tetrahydropyranylation, alcohols, tribromide, TMS-ether, THP-ethe

Measurement of Returns-to-Scale using Interval Data Envelopment Analysis Models

The file attached to this record is the author's final peer reviewed version. The Publisher's final version can be found by following the DOI linkThe economic concept of Returns-to-Scale (RTS) has been intensively studied in the context of Data Envelopment Analysis (DEA). The conventional DEA models that are used for RTS classification require well-defined and accurate data whereas in reality observations gathered from production systems may be characterized by intervals. For instance, the heat losses of the combined production of heat and power (CHP) systems may be within a certain range, hinging on a wide variety of factors such as external temperature and real-time energy demand. Enriching the current literature independently tackling the two problems; interval data and RTS estimation; we develop an overarching evaluation process for estimating RTS of Decision Making Units (DMUs) in Imprecise DEA (IDEA) where the input and output data lie within bounded intervals. In the presence of interval data, we introduce six types of RTS involving increasing, decreasing, constant, non-increasing, non-decreasing and variable RTS. The situation for non-increasing (non-decreasing) RTS is then divided into two partitions; constant or decreasing (constant or increasing) RTS using sensitivity analysis. Additionally, the situation for variable RTS is split into three partitions consisting of constant, decreasing and increasing RTS using sensitivity analysis. Besides, we present the stability region of an observation while preserving its current RTS classification using the optimal values of a set of proposed DEA-based models. The applicability and efficacy of the developed approach is finally studied through two numerical examples and a case study

The role of multiplier bounds in fuzzy data envelopment analysis

The file attached to this record is the author's final peer reviewed version. The Publisher's final version can be found by following the DOI link.The non-Archimedean epsilon ε is commonly considered as a lower bound for the dual input weights and output weights in multiplier data envelopment analysis (DEA) models. The amount of ε can be effectively used to differentiate between strongly and weakly efficient decision making units (DMUs). The problem of weak dominance particularly occurs when the reference set is fully or partially defined in terms of fuzzy numbers. In this paper, we propose a new four-step fuzzy DEA method to re-shape weakly efficient frontiers along with revisiting the efficiency score of DMUs in terms of perturbing the weakly efficient frontier. This approach eliminates the non-zero slacks in fuzzy DEA while keeping the strongly efficient frontiers unaltered. In comparing our proposed algorithm to an existing method in the recent literature we show three important flaws in their approach that our method addresses. Finally, we present a numerical example in banking with a combination of crisp and fuzzy data to illustrate the efficacy and advantages of the proposed approach

Ethical sensitivity in teaching and teacher education

Peer reviewe

Incidence, prevalence, and mortality rate of gastrointestinal cancer in Isfahan, Iran: Application of the MIAMOD method

Gastrointestinal cancers remain the most prevalent cancers in many developing countries such as Iran. The aim of this study was to estimate incidence, prevalence and mortality, as well as time trends for gastrointestinal cancers in Isfahan province of Iran for the period 2001 to 2010 and to project these estimates to the year 2020. Estimates were driven by applying the MIAMOD method (a backward calculation approach using mortality and relative survival rates). Mortality data were obtained from the Ministry of Health and the relative survival rate for all gastrointestinal cancers combined was derived from the Eurocare 3 study. Results indicated that there were clear upward trends in age adjusted incidence (males 22.9 to 74.2 and females 14.9 to 44.2), prevalence (males 52.6 to 177.7 and females 38.3 to 111.03), and mortality (males 14.6 to 47.2 and females 9.6 to 28.2) rates per 100,000 for the period of 2001 to 2010 and this upward state would persist for the projected period. For the entire period, the male to female ratio increased slightly for all parameters (incidence rate increased from 1.5 to 1.7, prevalence from 1.4 to 1.6, and mortality from 1.5 to 1.7). In males, totals of 2,179 incident cases, 5,097 prevalent cases and 1,398 mortality cases were predicated to occur during the study period. For females the predicted figures were 1,379, 3,190 and 891, respectively. It was concluded that the upward trend of incidence alongside increase in survival rates would induce a high burden on the health care infrastructure in the province of Isfahan in the future. © 2016, Asian Pacific Journal of Cancer Prevention

Application of the World Health Organization Quality of Life Instrument, Short Form (WHOQOL-BREF) to patients with cataract

OBJECTIVES: Cataract is a prevalent disease in the elderly, and negatively influences patients' quality of life. This study was conducted to study the application of the World Health Organization Quality of Life Instrument, Short Form (WHOQOL-BREF) to patients with cataract. METHODS: In this cross-sectional study, 300 patients with cataract were studied in Neyshabur, Iran from July to October 2014. The Iranian version of the WHOQOL-BREF questionnaire was used to measure their quality of life. Cronbach's alpha coefficient, Pearson's correlation coefficient, the paired t-test, the independent t-test, and a linear regression model were used to analyze the data in SPSS version 16.0 (SPSS Inc., Chicago, IL, USA). RESULTS: The mean age of the participants was 68.11±11.98 years, and most were female (53). The overall observed Cronbach's alpha coefficient for the WHOQOL-BREF was 0.889, ranging from 0.714 to 0.810 in its four domains. The total mean score of the respondents on the WHOQOL-BREF was 13.19. The highest and lowest mean scores were observed in the social relationship domain (14.11) and the physical health domain (12.29), respectively. A backward multiple linear regression model found that duration of disease and marital status were associated with total WHOQOL scores, while age, duration of disease, marital status, and income level were associated with domains one through four, respectively (p<0.05). CONCLUSIONS: The reliability analysis conducted in this study indicated that the WHOQOL-BREF scale exhibited an acceptable degree of internal consistency in the measurement of the quality of life of patients with cataract. It was also found that the patients with cataract who were surveyed reported a relatively moderate quality of life