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

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

Packaging of RF Mems Switching Functions on Alumina Substrate

Recently the strong demands in wireless communication requires expanding development for the application of RF MEMS (Radio Frequency micro electro mechanical systems) sensing devices such as micro-switches, tunable capacitors because it offers lower power consumption, lower losses, higher linearity and higher Q factors compared with conventional communications components. To accelerate commercialisation of RF MEMS products, development for packaging technologies is one of the most critical issues should be solved beforehand.Comment: Submitted on behalf of TIMA Editions (http://irevues.inist.fr/tima-editions

Cabbage and vitamin E: their effect on colon tumor formation in mice.

The effects of cabbage and vitamin E on colon carcinogenesis were investigated in Swiss mice treated with 1,2-dimethylhydrazine. Throughout the experiment the mice were fed a laboratory chow diet (46 mg vitamin E per kg) or chow containing 13 g cabbage per 100 g or 180 mg vitamin E per kg. Starting after 31 days of diet treatment the mice received 7 weekly s.c. injections of DMH. They were sacrificed 17 weeks after the first dose of DMH. While diet did not significantly alter colon tumor response, some trends were observed. Female mice given cabbage had a higher incidence. (percent of mice with a tumor) and multiplicity (tumors per tumor bearing mouse) of colon tumors. Males were little affected by cabbage apart from a lower incidence of adenocarcinomas. Compared with mice fed the control diet those given vitamin E had a higher colon tumor incidence, This effect, which was stronger in females, was due to an increased incidence of adenomas. Vitamin E had little apparent affect on tumor multiplicity apart from a reduction in adenocarcinomas in females and adenomas in males. The data do not support the view that cabbage and vitamin E are protective against colon cancer

Changes in pH and levels of B-glucosidase, B-glucuronidase and reducing activity as food residue passes along the mouse colon

The contents were collected from successive regions of the colon of Swiss mice. Ana(vses show that the pH rises by about 0.55 pH units between the cecum and the distal colon. The level of p-glucuronidase falls sharply, typically 2 to 3 fold;, as food residue leaves the cecum. This is followed by a large rise in the distal c%n, mvund 1.6 to 4 fold, about half of 1vhich is due to the concentrating ejlect caused by loss of water. lvleasurements were also made of nonspecific reducing activity, the level of which rises by about 74% along the colon mainly because of water loss. For each of the above parameters similar results were observed using old and young mice and with diets high and low in fat. Studies indicated that the reducing activity is nonenzymic