This paper considers the problem of swinging up the Furuta pendulum and proposes a new smooth nonlinear swing up controller based on the concept of energy. This new controller results from the Total Energy Control System (TECS) approach in conjunction with a linearizing feedback controller. The new controller commands to the desired reference the total energy rate of the Furuta pendulum; thus, the Furuta pendulum oscillates and reaches a neighborhood of its unstable configuration while the rotation of its base remains bounded. Once the Furuta pendulum configuration is in the neighborhood of its unstable equilibrium point, a linear controller stabilizes the unstable configuration of the Furuta pendulum. Real-time experiments are included to support the theoretical developments.
The social foraging behavior of Escherichia coli bacteria has recently been studied by several researchers to develop a new algorithm for distributed optimization control. The Bacterial Foraging Optimization Algorithm (BFOA), as it is called now, has many features analogous to classical Evolutionary Algorithms (EA). Passino [1] pointed out that the foraging algorithms can be integrated in the framework of evolutionary algorithms. In this way BFOA can be used to model some key survival activities of the population, which is evolving. This article proposes a hybridization of BFOA with another very popular optimization technique of current interest called Differential Evolution (DE). The computational chemotaxis of BFOA, which may also be viewed as a stochastic gradient search, has been coupled with DE type mutation and crossing over of the optimization agents. This leads to the new hybrid algorithm, which has been shown to overcome the problems of slow and premature convergence of both the classical DE and BFOA over several benchmark functions as well as real world optimization problems.
Members of the Philometridae represent the most important group of dracunculoid nematodes parasitizing fishes. In his monograph treating the Dracunculoidea, Moravec (2006) reported a total of 11 genera and 105 species of philometrids parasitizing freshwater, brackish-water and marine fishes. However, during the last six years (2007-2012), an additional 42 new species of Philometridae have been described, representing a 40% increase of the number of nominal species. Most of these species (30) belong to Philometra Costa, 1845, mainly represented by parasites of marine fishes, a few others (8) to Philometroides Yamaguti, 1935, and a single one to each of the following genera: Caranginema Moravec, Montoya-Mendoza et Salgado-Maldonado, 2008, Dentiphilometra Moravec et Wang, 2002, Dentirumai Quiazon et Moravec, 2013* and Spirophilometra Parukhin, 1971. Moreover, three new genera, Afrophilometra Moravec, Charo-Karisa et Jirků, 2009, Caranginema and Dentirumai, were erected. Representatives of seven genera, Afrophilometra, Buckleyella Rasheed, 1963, Caranginema, Dentiphilometra, Dentirumai, Paraphilometroides Moravec et Shaharom-Harrison, 1989 and Rumai Travassos, 1960, were studied using scanning electron microscopy (SEM) for the first time. Thirteen known but poorly described philometrid species were redescribed and, in some species of Caranginema and Philometra, previously unknown conspecific males were discovered and described. The male surface ultrastructure studied by SEM provided new taxonomically important features for species distinction. Gene sequencing was used in several recent studies and advanced our understanding of phylogenetic interrelationships among representatives of seven genera (Afrophilometra, Alinema Rasheed, 1963, Caranginema, Nilonema Khalil, 1960, Philometra, Philometroides and Rumai) and of the extent of the biodiversity of philometrids. New data were obtained on the biology and pathogenicity of several species of Nilonema, Philometra, Philometroides and Rumai. The need to carry out surveys in order to find males and to use SEM and gene sequencing to identify philometrids is emphasized. Appropriate quantitative methods to determine the impact of philometrids in ovarian tissue on host fecundity are recommended. Further detailed studies on philometrids would be significant not only from the theoretical viewpoint, but also because of their practical implications. A list of philometrid nematode species by continents is provided.
River runoff is not only a crucial part of the global water cycle, but it is also an important source for hydropower and an essential element of water balance. This study presents a system-theory-based model for river runoff forecasting taking the Hailiutu River as a case study. The forecasting model, designed for the Hailiutu watershed, was calibrated and verified by long-term precipitation observation data and groundwater exploitation data from the study area. Additionally, frequency analysis, taken as an optimization technique, was applied to improve prediction accuracy. Following model optimization, the overall relative prediction errors are below 10%. The system-theory-based prediction model is applicable to river runoff forecasting, and following optimization by frequency analysis, the prediction error is acceptable.
A partial order on a bounded lattice L is called t-order if it is defined by means of the t-norm on L. It is obtained that for a t-norm on a bounded lattice L the relation a⪯Tb iff a=T(x,b) for some x∈L is a partial order. The goal of the paper is to determine some conditions such that the new partial order induces a bounded lattice on the subset of all idempotent elements of L and a complete lattice on the subset A of all elements of L which are the supremum of a subset of atoms.
We studied gas exchange of leaves on branches that had been cut and then re-cut under water to assess the utility of measuring gas exchange on leaves of excised canopy branches. There was large variation between species in their ability to photosynthesize following excision. Some species maintained up to 86.5% of intact photosynthetic rate 60 min after excision, whereas other species dropped below 40% of intact photosynthetic rates within 3 min. Three species showed significant reductions in maximum rates of gross photosynthetic rate (PG) on leaves of excised branches relative to intact branches. Excision significantly reduced carboxylation rates (Vcmax) in four species and electron transport (Jmax) in two species. There were also significant increases in compensation irradiance and reductions of day rates of respiration relative to intact measurements. While gas exchange on excised branches can provide useful measures for canopy species, responses of individual species to branch excision need to be taken into account. Measurements on pre-screened species allow a greater understanding of canopy photosynthesis of large trees when canopy access is not an option. and L. S. Santiago, S. S. Mulkey.
In this paper a fuzzy relation-based framework is shown to be suitable to describe not only knowledge-based medical systems, explicitly using fuzzy approaches, but other ways of knowledge representation and processing. A particular example, the practically tested medical expert system Disco, is investigated from this point of view. The system is described in the fuzzy relation-based framework and compared with CADIAG-II-like systems that are a "pattern" for computer-assisted diagnosis systems based on a fuzzy technology. Similarities and discrepancies in - representation of knowledge, patient's information, inference mechanism and interpretation of results (diagnoses) - of the systems are established. This work can be considered as another step towards a general framework for computer-assisted medical diagnosis.
Lake Lednica, Greater Poland, is one of Poland’s most important and longest-studied underwater archaeological sites. The residential centre established on an island was one of the central points in the state of the first Piasts. Previous research located two bridges to the island and discovered the largest collection of early medieval military objects in Central Europe in the lake. In the 2017 season, a third bridge was discovered on Lake Lednica leading to the small island called Ledniczka on which the layers of an early medieval settlement and clear remnants of a motte-type medieval structure are found. Three seasons of research on relics of the crossing suggest that it may have functioned in two periods: in the tenth century and at the turn of the fourteenth century. During the research, a number of military items, pottery, objects made of organic materials and fishing tools were found. and Lednické jezero ve Velkopolsku patří k nejdůležitějším a nejdéle studovaným lokalitám podvodní archeologie ve střední Evropě. Rezidenční centrum zřízené na zdejším Lednickém ostrově bylo jedním z hlavních míst prvních Piastovců. Předchozí výzkum odhalil dva mosty spojující ostrov s pevninou a největší soubor militárií ze dna středoevropského jezera. V roce 2017 byl identifikován další most, tentokrát zpřístupňující ostrůvek zvaný Ledniczka. Další výzkum ukázal, že most pravděpodobně fungoval ve dvou periodách: v 10. století a na přelomu 13. a 14. století. Přinesl také početný soubor militárií, keramiky, rybářského náčiní a výrobků z organických materiálů. Na ostrůvku byly dokumentovány raně středověké situace a opevnění typu motte.
Utilizing the theory of fixed point index for compact maps, we establish new results on the existence of positive solutions for a certain third order boundary value problem. The boundary conditions that we study are of nonlocal type, involve Stieltjes integrals and are allowed to be nonlinear.