Robust observer-based fault estimation and accommodation of discrete-time piecewise linear systems

In this paper a new integrated observer-based fault estimation and accommodation strategy for discrete-time piecewise linear (PWL) systems subject to actuator faults is proposed. A robust estimator is designed to simultaneously estimate the state of the system and the actuator fault. Then, the estimate of fault is used to compensate for the effect of the fault. By using the estimate of fault and the states, a fault tolerant controller using a PWL state feedback is designed. The observer-based fault-tolerant controller is obtained by the interconnection of the estimator and the state feedback controller. We show that separate design of the state feedback and the estimator results in the stability of the overall closed-loop system. In addition, the input-to-state stability (ISS) gain for the closed-loop system is obtained and a procedure for minimizing it is given. All of the design conditions are formulated in terms of linear matrix inequalities (LMI) which can be solved efficiently. Also, performance of the estimator and the state feedback controller are minimized by solving convex optimization problems. The efficiency of the method is demonstrated by means of a numerical example.     

Adaptive output feedback neural network control of uncertain non-affine systems with unknown control direction

This paper deals with the problem of adaptive output feedback neural network controller design for a SISO non-affine nonlinear system. Since in practice all system states are not available in output measurement, an observer is designed to estimate these states. In comparison with the existing approaches, the current method does not require any information about the sign of control gain. In order to handle the unknown sign of the control direction, the Nussbaum-type function is utilized. In order to approximate the unknown nonlinear function, neural network is firstly exploited, and then to compensate the approximation error and external disturbance a robustifying term is employed. The proposed controller is designed based on strict-positive-real (SPR) Lyapunov stability theory to ensure the asymptotic stability of the closed-loop system. Finally, two simulation studies are presented to demonstrate the effectiveness of the developed scheme.     

Autonomous cleaning system for Dubai International Airport

This paper outlines the development of a robotic system designed to clean the outer surface of elliptic tapered structures such as Dubai airport concourse. The designed system consists of two identical cleaning satellites connected to a main unit and provides cleaning coverage up to 83° tilt from the horizontal surface of the concourse. The controller design, sensors, localization, and employed communication techniques are presented in this paper along with the final results of the implemented prototype. The system features redundant locomotion to ensure safe and reliable operation while maintaining autonomy and flexibility.     

Rorty's Approach to Cultural Difference: The Conflict between Solidarity and Procedural Liberalism

Although Richard Rorty's controversial thought has been the subject of many works, there has not been much discussion about his approach to cultural difference. The purpose of this article is to examine how Rorty sees cultural differences philosophically and how he deals with them politically. For him, rationality, morality and even the scope of moral responsibility towards others are defined in terms of solidarity with a particular community and ‘ethnocentrism’, rather than in terms of a universal and metaphysically derived set of criteria. It can be argued that since language, language games and values are mainly components of culture, the latter is one of the most significant communities with which Rorty is concerned, though he is not explicit about it. Nevertheless, Rorty does not think that the moral and philosophical significance of communities, particularly cultural communities, should be reflected in politics. The main argument of the article is that there is an unresolved tension in Rorty's thought between philosophical, moral and emotional attribution of significance to communities and arguably cultural communities, and a disregard for them in the political sphere. This paves the way for outlining an approach to cultural difference that is more just and even more in harmony with Rorty's own philosophy.     

Speaker adapted dynamic lexicons containing phonetic deviations of words

Speaker variability is an important source of speech variations which makes continuous speech recognition a difficult task. Adapting automatic speech recognition （ASR） models to the speaker variations is a well-known strategy to cope with the challenge, Almost all such techniques focus on developing adaptation solutions within the acoustic models of the ASR systems. Although variations of the acoustic features constitute an important portion of the inter-speaker variations, they do not cover variations at the phonetic level. Phonetic variations are known to form an important part of variations which are influenced by both micro-segmental and suprasegmental factors. Inter-speaker phonetic variations are influenced by the structure and anatomy of a speaker＇s articulatory system and also his/her speaking style which is driven by many speaker background characteristics such as accent, gender, age, socioeconomic and educational class. The effect of inter-speaker variations in the feature space may cause explicit phone recognition errors. These errors can be compensated later by having appropriate pronunciation variants for the lexicon entries which consider likely phone misclassifications besides pronunciation. In this paper, we introduce speaker adaptive dynamic pronunciation models, which generate different lexicons for various speaker clusters and different ranges of speech rate. The models are hybrids of speaker adapted contextual rules and dynamic generalized decision trees, which take into account word phonological structures, rate of speech, unigram probabilities and stress to generate pronunciation variants of words. Employing the set of speaker adapted dynamic lexicons in a Farsi （Persian） continuous speech recognition task results in word error rate reductions of as much as 10.1% in a speaker-dependent scenario and 7.4% in a speaker-independent scenario.     

An Empirical Examination of Factors Affecting Group Effectiveness in Information Systems Projects

Although group project concepts and skills have become a major component in most information systems (IS) academic programs, very little research has attempted to examine factors that may improve or undermine effectiveness of IS group projects. Accordingly, based on relevant literatures, this study develops and empirically tests a model of factors affecting IS group project effectiveness. The research model posits that group cohesion and group efficacy will have positive effects on group effectiveness (project success and expected impact), whereas perceived loafing is expected to have a negative effect on IS group effectiveness. Data collected from 104 students working in 29 groups to complete semester‐long projects in two IS courses revealed that group efficacy had positive impact on group effectiveness and perceived loafing demonstrated a partial effect. Contrary to expectations, the impact of group cohesion was nonsignificant. These results could be useful in evaluating groups' potential for success and creating conditions conducive to enhancing effectiveness and success of IS student group projects.     

Performance improvement of a crumb rubber modified bitumen using recycled glass powder

In this study, the efficiency of bitumen and asphalt mixtures modified with crumb rubber （CR） and recycled glass powder （RGP） is evaluated. From an environmental point of view, the application of RGP in asphalt mixtures is considered beneficial since it prevents accumulation of waste glass in the natural environment. Rheological and mechanical properties of modified bitumen samples were investigated by laboratory methods such as bitumen conventional tests and dynamic shear rheometer （DSR）, and also by asphalt mixture performance tests including Marshall stability, indirect tensile strength （ITS）, compressive strength, and indirect tensile stiffness modulus. The results showed that the application of RGP in place of CR has no negative impact on the efficiency of bitumen and asphalt mixtures and even improves their engineering properties except for the toughness index （TI）. Moreover, a modification with 5% CR and 5% RGP in asphalt mixtures results in the best overall performance.     

The reflection of offline activities on users’ online social behavior: An observational study

The ever increasing presence of online social networks in users’ daily lives has led to the interplay between users’ online and offline activities. There have already been several works that have studied the impact of users’ online activities on their offline behavior, e.g., the impact of interaction with friends on an exercise social network on the number of daily steps. In this paper, we consider the inverse to what has already been studied and report on our extensive study that explores the potential causal effects of users’ offline activities on their online social behavior. The objective of our work is to understand whether the activities that users are involved with in their real daily life, which place them within or away from social situations, have any direct causal impact on their behavior in online social networks. Our work is motivated by the theory of normative social influence, which argues that individuals may show behaviors or express opinions that conform to those of the community for the sake of being accepted or from fear of rejection or isolation. We have collected data from two online social networks, namely Twitter and Foursquare, and systematically aligned user content on both social networks. On this basis, we have performed a natural experiment that took the form of an interrupted time series with a comparison group design to study whether users’ socially situated offline activities exhibited through their Foursquare check-ins impact their online behavior captured through the content they share on Twitter. Our main findings can be summarised as follows (1) a change in users’ offline behavior that affects the level of users’ exposure to social situations, e.g., starting to go to the gym or discontinuing frequenting bars, can have a causal impact on users’ online topical interests and sentiment; and (2) the causal relations between users’ socially situated offline activities and their online social behavior can be used to build effective predictive models of users’ online topical interests and sentiments.