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A layered fuzzy logic controller for nonholonomic car-like robot

A system for real time navigation of a nonholonomic car-like robot in a dynamic environment consists of two layers is described: a Sugeno-type fuzzy motion planner; and a modified proportional navigation based fuzzy controller. The system philosophy is inspired by human routing when moving between obstacles based on visual information including right and left views to identify the next step to the goal. A Sugeno-type fuzzy motion planner of four inputs one output is introduced to give a clear direction to the robot controller. The second stage is a modified proportional navigation based fuzzy controller based on the proportional navigation guidance law and able to optimize the robot's behavior in real time, i.e. to avoid stationary and moving obstacles in its local environment obeying kinematics constraints. The system has an intelligent combination of two behaviors to cope with obstacle avoidance as well as approaching a target using a proportional navigation path. The system was simulated and tested on different environments with various obstacle distributions. The simulation reveals that the system gives good results for various simple environments

Dynamic upper atmospheric force model on stabilized vehicles for a high-precision trajectory computer program

The upper atmosphere model draws heavily on the behavior of the earth's upper atmosphere which exhibits cyclic as well as irregular variations in density profile, temperature, pressure, and composition in unison with solar activities as deduced from the more recent land-based and satellite observations. The lift and drag model is designed specifically for inertially stabilized vehicles of the Mariner class, with possible extension to gravity gradient stabilized vehicles of the GEOS class. The model considers operation in the free molecular flow regimes with large Knudsen numbers. The vehicle is considered a composite structure with basic components having well-defined shapes, each with its own surface characteristics in terms of temperature, reflectivity, and accommodation of free stream molecules. The model takes into account both the calculation of precise aerodynamic force coefficients in terms of expansion of modified Bessel functions in speed ratios and angle of attack, and approximate force coefficients when the speed ratios approach infinity. Other considerations include specular and diffused reflectivity, shielding, and shadow effects

The Velocity of the Propagating Wave for General Coupled Scalar Systems

We consider spatially coupled systems governed by a set of scalar density evolution equations. Such equations track the behavior of message-passing algorithms used, for example, in coding, sparse sensing, or constraint-satisfaction problems. Assuming that the "profile" describing the average state of the algorithm exhibits a solitonic wave-like behavior after initial transient iterations, we derive a formula for the propagation velocity of the wave. We illustrate the formula with two applications, namely Generalized LDPC codes and compressive sensing.Comment: 5 pages, 5 figures, submitted to the Information Theory Workshop (ITW) 2016 in Cambridge, U

Effect of desulphurised waste on long-term porosity and pore structure of blended cement pastes

This paper presents some results on the porosity and pore size distribution of cement paste containing simulated desulphurised waste (SDW) cured for 90 d. The SDW was chosen for the investigation due to the variability in chemical composition of real desulphurised waste as explained in previous papers. The SDW is a combination of 85% fly ash and 15% gypsum. The cement in the pastes was replaced with 0, 20 and 40% SDW. The water to binder ratio was 0.5. The binder consists of cement and SDW (by weight). After 90 d of curing, the porosity and pore size distribution tests were conducted on the pastes. Increasing the amount of SDW leads to an increase in the pore volume of the paste. There is no clear trend on the effect of SDW on the size of the pores

Haematological malignancy: are we measuring what is important to patients? A systematic review of quality of life instruments

© 2018 The Authors. This is an open access article under the terms of the Creative Commons Attribution‐NonCommercial License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited and is not used for commercial purposes.The wide range of health‐related quality‐of‐life (HRQoL) instruments used in haematology makes it challenging for haematologists and other care team members in practice to select, use and understand the scoring system and finally interpret the results. The main objectives of this study were to: (a) provide a comprehensive list of quality‐of‐life issues important to patients suffering from haematological malignancies, identified through the literature; (b) provide a list of health‐related quality‐of‐life (HRQoL) instruments used in haematological malignancies in both daily clinical practice and research; and (c) evaluate the relevance and comprehensibility of the identified instruments in haematological malignancies. Systematic literature review of two databases, followed by addition of articles by manual searching, was carried out. The articles focusing on the primary studies, which have used semi‐structured/structured interviews or surveys to identify issues important to HM patients, and other studies describing the results of testing measurement properties, such as reliability, validity and responsiveness of the instruments currently used to evaluate the HRQoL in different HMs, were included. Fifty‐seven studies reported development and validation of 30 HRQoL instruments, which have been used in haematology. Twenty‐four studies were identified using qualitative methods to report HRQoL issues and symptoms from a patient's perspective. No identified instrument captured all the issues identified from the qualitative studies. None of the instruments reviewed appeared to have been developed for use in clinical practice and specifically for patients with HM, except MyPOS. Furthermore, measurement properties were established, largely, in clinical trial scenarios. There is a need for development of a new HRQoL instrument entirely based on involvement of patients with haematological malignancies.Peer reviewe