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The problem of finite-time prescribed performance control (PPC) for spacecraft attitude maneuvering is researched. To the best of the authors' knowledge, limited results have been reported. How to achieve the prescribed performance attitude tracking within a preset time interval is still an open problem, especially in the presence of inertia perturbations, external disturbances, actuator saturations, and faults. On account of this, a finite-time performance function is first constructed as the predefined boundary of tracking errors. Second, Chebyshev neural network is utilized to approximate the lumped uncertainties. Then, the Nussbaum gain technique compensating for actuator saturations and faults is incorporated into the backstepping design to develop a new fault-tolerant attitude controller. Both transient and steady-state performances (e.g., the maximum overshoot, steady-state error, and settling time) are guaranteed. Compared with the common PPC or finite-time control achievements on spacecraft attitude tracking, the setting time herein can be set in advance without relying on initial states. Finally, experiments are performed to verify the effectiveness of the solution and comparisons with related works are displayed. National Natural Science Foundation of ChinaNational Natural Science Foundation of China (NSFC) [61773108]; Natural Sciences and Engineering Research Council of CanadaNatural Sciences and Engineering Research Council of Canada (NSERC)CGIAR This work was supported in part by the National Natural Science Foundation of China under Grant 61773108, and in part by the Natural Sciences and Engineering Research Council of Canada.

Communication networks grow exponentially in this globalization era; thus, the network traffic modelling and prediction plays a crucial role in network management and security warning. Solely, the multi-step network traffic prediction may involve greater errors hence worsening prediction performance. To overcome this problem, an optimized echo state network model with selective error compensation is proposed. In the optimized echo state network-based multi-step prediction model, an improved fruit–fly optimization algorithm based on cloud model (named LVCMFOA) is used to select optimum values of four key parameters of the model. The proposed LVCMFOA algorithm uses the levy-flight function to redefine the generation of the fruit–fly population, which can randomly change the search radius and help getting out of a possible local optimal solution and prevent local optimum. To reduce the calculation time but improve the prediction accuracy simultaneously, a sophisticated selective error compensation strategy employing the variable sliding window technology is proposed so as to avoid the error accumulation problem in the multi-step prediction. The effectiveness of the proposed method is verified by applying it to Henon mapping chaotic series, Mackey–Glass chaotic series and two public network traffic data sets all known in the literature.

In this article, we consider the modes of neutrals of 0,38 to 750 kV networks. In any network with different voltage classes, the neutral point of a power transformer winding can operate both in isolated and deaf earthed mode. However, the choice of this mode depends on economic feasibility. The paper presents arguments and advantages of application of system with isolated and compensated neutral of networks with voltage classes 6–35 kV. For networks of these voltage classes various options of connecting arc suppression reactors with step and smooth regulation, as well as low and high impedance resistors in the neutral point of neutralizing transformer or zero sequence filter are considered. On the example of operation of electric networks of the Republic of Chuvashia for many decades it is emphasized that compensation of capacitive currents with arc suppression reactors is an effective and reliable way to protect not only substation electrical equipment from overvoltage, but also to ensure electrical safety of people and animals, as well as reinforced concrete towers from destruction. It is noted that the 6–35 kV networks in the future can be made with deaf earthed neutral. However, this will be possible under the condition that self-supporting insulated wires will be installed on overhead transmission lines instead of bare wires, and cross-linked polyethylene cables will be used on cable lines. It is emphasized that the introduction of work under voltage in 6-35 kV networks and digitalization of substations with the widespread introduction of microprocessor technology will accelerate the transition from a system with insulated (or compensated) neutral to a deaf earthed system. Nevertheless, the decision to switch from the insulated neutral system to a deaf earthed system will remain the prerogative of the design organization based on the specifics of the electrical equipment and the sphere of industrial activity.

The latest global trends in the field of technological equipment are associated with the “hot connection” (plug and play) of mechanical components and coordinates, including the kinematics of machine tools that change during their operation. The control of technological equipment with dynamically changing kinematics requires new approaches to organizing the interaction of components in the architecture of the control system as well as new algorithms and software, particularly those for controlling the process of shaping. CNC systems on the market are quite versatile and provide the ability to control various machine tools and configurations through machine parameter settings. Replacing one set of machine parameters with another requires a restart of the control system (cold start). This work proposes an approach to constructing a CNC system that allows reconfiguration of the kinematic scheme using a high-level language for programs in accordance with a change in the kinematics of the machine tool «on the fly». This paper contains the results of experimental studies and illustrates an example of changing kinematics of a milling machine in a CNC system “on the fly” through a control program running on the master channel.

Relative losses of electric power during transmission and distribution in electric networks are considered in the paper. The components of commercial losses of electric power and their structure are given. From the presented data of technical and commercial losses of some areas of power networks of «ПАО «MRSK of Volga» – «Chuvashenergo» following the results of one month 2020, calculated with the use of «RAP-Standard» program according to the statements of power sales, it follows that total losses are from 11,6 to 17%. By the example of two sections of power grid companies of PAO MRSK of Volga – Chuvashenergo and the Republic of Tatarstan a comparison of commercial losses before and after the installation of intelligent power metering devices was made. It is estimated that the difference in electric power losses after installation of «smart» electric meters at both sites of the above mentioned enterprises was significantly reduced: at one site from 14 to 5.1%, and at the other – from 17.3 to 9.4%. It is shown that specific losses after installation of intellectual metering devices in Verkhneuslonsky district settlement of JSC «Grid Company» Buinskie Power Networks per one metering device decreased by 19.7%.

The article deals with the issue of paying for electricity transmission services by consumers in connection with the introducing on the 1st of July, 2020 the Federal Law no. 522-FZ dated December 27, 2018 and the requirements for smart devices and electricity metering systems. This topic is one of the key points in the fight against non-payments for electrical energy, reducing business losses. The article draws attention to the change in the relationship between a consumer of electrical power and its supplier after the introduction of the above-mentioned law. The opportunities of intelligent electricity metering systems are examined as well as their features and some of their characteristics are given. On the example of the Verkhneuslonsky region of the Republic of Tatarstan, served by the branch of JSC “Network Company” Buinsky electrical networks, a comparative analysis of electrical power consumption is presented according to the data of those consumers who have smart metering devices installed and those who use ordinary counters. It is shown that installation of intelligent electric power metering systems made it possible to increase the useful power supply for the observed period by 15.5% in 2020 against 1.8% when using traditional counters for the same period of 2019.

Miscarriages are one of the most common problems of pregnancy abnormalities, however, in most cases the etiology of this pathology is unknown. Herein, we applied differential scanning calorimetry to study the aging process of red blood cells (RBCs) derived from women with miscarriages as compared to healthy non-pregnant and pregnant women of reproductive age, with the aim to identify specific calorimetric features associated with high-risk pregnancy. The calorimetric profiles of RBCs derived from healthy pregnant and non-pregnant women along the cells aging path are characterized with: (1) slow reduction in the hemoglobin heat capacity and (2) downshift of the thermal transitions of hemoglobin, Band 3 and Band 2.1, 4.1 and 4.2 proteins. A large population (71%) of the studied cases with miscarriage are associated with faster aging of RBCs, i.e., faster thermal destabilization of hemoglobin and Band 3 transitions compared to healthy non-pregnant and pregnant women. The results suggest that the accelerated temperature-induced destabilization of RBCs from the majority of women that underwent miscarriages along cells aging is an additional criterion for estimation of the risk of miscarriage.

Liu, Xiaoping/0000-0003-1808-4233; Jing, Yuan Wei/0000-0002-3347-2448 This paper provides a new solution for the finite-time attitude maneuvers of rigid spacecraft. Uncertainties involving unknown inertial parameters, external disturbances and actuator failures are taken into account. With an effort to achieve attitude tracking despite the impact of uncertainties, a non-singular terminal sliding mode (NTSM) manifold consisting of attitude errors and angular velocity errors is first constructed. After that, a simple but efficient adaptive updating law is derived to estimate the upper bound of the lumped unknown function in the derivative of sliding surface. Combining NTSM technology and pure adaptive control, a chattering-free fault-tolerant controller is presented. The premise assumptions on uncertainties in most of the existing achievements are eliminated, which makes the controller less constrained and more practical. The rigorous proof of finite-time stability is provided and the convergent regions of tracking errors are explicitly expressed. Finally, numerical simulation is conducted to verify the effectiveness of the proposed control scheme and the comparison experiments with relevant literature demonstrate the satisfactory performances. NSERC of CanadaNatural Sciences and Engineering Research Council of Canada (NSERC); National Natural Science Foundation of ChinaNational Natural Science Foundation of China (NSFC) [61773108] NSERC of Canada; National Natural Science Foundation of China, Grant/Award Number: 61773108

Liu, Xiaoping/0000-0003-1808-4233 In this paper, the problem of finite-time attitude-tracking control for a rigid spacecraft is addressed. Uncertainties including unknown inertial parameters, external disturbances, actuator failures and saturation constraints are considered. Firstly, a smooth function which is different from the common saturation treatment is presented to deal with the actuator constraints. Secondly, a fast non-singular terminal sliding mode (FNTSM) manifold composed of tracking errors is constructed. To estimate the unknown function in the sliding surface derivative, Chebyshev neural network (CNN) is introduced and thus the strict assumptions on uncertainties in many related works are abolished. By designing the CNN adaptive laws, a new fault-tolerant control scheme is proposed such that the attitude tracking can be achieved within a limited time interval. Compared with the existing CNN-based achievements with finite-time convergence, the approximation errors are proved to be finite-time stable instead of uniformly ultimately bounded (UUB). Finally, simulation experiments are conducted to demonstrate the satisfactory tracking performance of the attitude controller. National Natural Science Foundation of ChinaNational Natural Science Foundation of China (NSFC) [61773108]; NSERC of CanadaNatural Sciences and Engineering Research Council of Canada (NSERC) This work was supported by the National Natural Science Foundation of China: [Grant Number 61773108]; the NSERC of Canada: [Grant Number Xiaoping Liu].

With the complexity of the network system rapidly increasing, network traffic prediction has great significance for the safety pre-warning of the network load, network management and control, and improvement of the quality of the network service. In this paper, the time series analysis is used for the network traffic prediction, and a prediction method combined with an optimized unscented Kalman filter (UKF) by an improved fruit fly algorithm (IFOA) and echo state network (ESN) is proposed, which is named by IFOA-UKF-ESN. The researches mainly solve the problem that the prediction accuracy might be greatly affected by the actual network traffic data with unknown and time-varying noises. UKF is used to train the best state vector (formed by spectral radius, scale of the reservoir, scale of the input units and connectivity rate) of ESN; and the proposed IFOA algorithm is proposed to optimize the weights of the predicted state value and the covariance in UKF, which makes UKF have adaptive ability for unknown and time-varying noise. Three actual network traffic data sets with different Gaussian white noise distributions are constructed for experiments, and the experimental results show that the proposed prediction method makes an average improvement by reducing at least 20.60%, 43.23% and 41.85% of RMSE, at least 23.66%, 52.38% and 47.50% of MAE, and at least 23.58%, 52.10% and 47.28% of MAPE, which verify the effectiveness of the proposed method. National Natural Science Foundation of ChinaNational Natural Science Foundation of China (NSFC) [61773108] The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: The authors are grateful for financial support from the National Natural Science Foundation of China (Grant No.61773108).

Summary The present study aimed to evaluate the impact of factor V Leiden (FVL) polymorphism within the reproductive problems encountered by patients with polycystic ovary syndrome (PCOS). A total of 92 female patients with PCOS and 101 healthy controls were included in the study. Clinical and laboratory parameters were examined. The full history of each patient was taken. Single nucleotide polymorphism rs6025 in F5 was genotyped in PCOS patients and compared to the genotype frequency of the healthy controls. The data were analysed for correlation with infertility and pregnancy loss in PCOS patients. The prevalence of FVL polymorphism was higher, however not significantly, in PCOS patients compared to that of the control group (respectively OR=2.238, 95 % CI 0.777±6.449, p=0.104). The carriers of FVL polymorphism showed a higher rate of primary infertility (30.0% versus 12.5%, OR=3.143, 9 % CI 0.686±14.388, p=0.047) and their total reproductive failure rate was higher (60.5% versus 47.2%, OR=1.819, 95% CI 0.632±9.259, p=0.117). Carriage of FVL polymorphism in PCOS patients is associated with primary infertility and a presumed cause of the further investigations needed to understand the impact of FVL on PCOS. Carriage of FVL polymorphism in PCOS patients is associated with a higher rate of primary infertility, which draws attention to the role of this factor in the aetiology of the PCOS-related subfertility. Further investigations are needed to understand the impact of FVL on PCOS.

The analysis shows that the development of programming tools for CNC systems is focused on the development of new machine canned cycles, including those for processing complicated surfaces, their complex combinations or complex mutual arrangement, but does not concern such issues as the universalization of cycle parameters. This does not make it impossible to transfer control programs from one CNC system to another. This work proposes an approach to the development of tools for creating universal cycles of typical technological transitions of machining on machines with different CNC systems.

This paper studies the issue of finite-time prescribed performance control for spacecraft attitude tracking with inertia perturbations, external disturbances, actuator saturations and faults. To the best of the authors' knowledge, limited results have been reported in the relevant literature, and how to achieve the prescribed performance attitude tracking within a preset time interval is still an open problem. A novel finite-time prescribed performance function (FTPPF) whose settling time can be arbitrarily preset is first proposed. With the FTPPF predefining the envelope of tracking-error trajectories, the original spacecraft model is transformed into a new error system. Based on the barrier Lyapunov function of converted errors, the attitude controller is derived via backstepping design. During the process, the fuzzy approximation is used to handle inertia perturbations and external disturbances, while the Nussbaum gain technique is adopted to compensate for the efficiency loss caused by actuator saturations and faults. Finally, a finite-time fault-tolerant control scheme that guarantees both transient and steady-state performances (e.g., the maximum overshoot, steady-state error, and settling time) is developed. To verify the effectiveness of the solution, numerical experiments involving comparisons with related achievements are performed. (C) 2021 Elsevier Masson SAS. All rights reserved. National Natural Science Foundation of ChinaNational Natural Science Foundation of China (NSFC) [61773108]; Natural Sciences and Engineering Research Council of CanadaNatural Sciences and Engineering Research Council of Canada (NSERC)CGIAR This work is supported by National Natural Science Foundation of China under Grant 61773108 and Natural Sciences and Engineering Research Council of Canada.

Dimirovski, Georgi M. (Dogus Author) -- Conference full title: 2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019; Bari; Italy; 6 October 2019 through 9 October 2019. Science of artificial neural networks and relevant computing mechanisms since McCullock-Pitts artificial neuron (1943) up via neurons and networks of Anderson (1972), Barto et al (1983), Grosberg (1967, 1976), Hopfield (1982, 1984), Kohonen (1972) to Kasabov’s evolving connectionist systems with spiking-neurons (2003) have undergone developments beyond any conceivable predictions. The computational efficiency and functionality of all kinds of neural network implies stable operating steady-state equilibrium is fast established and guaranteed. In parallel, Neurophysiology has yielded many insights Gayton-Hall (2006) converging to paradigm of systems biology. It appeared, on the crossroad of these findings with Hilbert’s Thirteen problem and Kolmogorov’s Superposition Representations in conjunction with Lyapunov foundations of stability and LaSalle invariance principle certain delicate subtle issues emerged Siljak (2008) and Sprecher (2017). This re-thinking the foundations of neural networks via the quest for parallels between artificial and living neurons is believed to open a new horizon. This belief follows obtained results on cultured-neuron controllers and recurrent neural networks with time-varying delays. A closer look into how animal and/or human brain cells can be cultivated as a controlling brain for a mobile robot (physical body) such that can move around and interact with the world. In turn, a new kind of artificial intelligence may be created, which is emulated by stabilized complex highly non-linear complex neural network system.

SummaryFetuin-A is a major plasma glycoprotein released mainly by the liver. Its functions include inhibition of the activity of insulin receptor, regulation of response to inflammation, inhibition of calcified matrix metabolism and ectopic mineralization, etc. Three major functional domains of fetuin-A have been identified: one similar to the Ca-binding domains, one inhibiting cysteine protease, and a domain with high affinity to insulin receptor. The fetuin-A molecule may be considered as a highly pleomorphic protein with an important impact in a variety of clinically expressed metabolic and pathological processes. It could be used as a marker in clinical practice in the future.

Dimirovski, Georgi M. (Dogus Author) -- Conference full title: 2017 IEEE International Conference on Systems, Man, and Cybernetics (SMC); Banff; AB; Canada; 5 October 2017 through 8 October 2017. Science of Neural Networks, and even much more so computing applications, have undergone developments beyond any predictions since McCullock-Pitts artificial neuron (1943) up via Hopfield’s neurons (1982, 1984) to Kasabov spiking-neurons neucube (2014) and evolving connectionist systems (2003). Still computational functionality of all kinds of neural network implies guaranteed operating steady-state equilibrium is fastreached first. On the other side of this spectrum Science of Neurophysiology yielded insights converging to Systems Biology approach Gayton-Hall (2006). It appeared, on the crossroad of these findings with Kolmogorov’s representation superposition and Hilbert’s Thirteen problem certain rater delicate subtle issues emerged Sprecher (2017). This paper gives one perception of these issues and suggested a revised view on the foundations of past developments, possibly by re-thinking own stability results for recurrent neural networks which possess time-varying delays.

Dimirovski, Georgi M. (Dogus Author) -- Conference full title: 36th Chinese Control Conference (CCC); Dalian; China; 26 July 2017 throgh 28 July 2017. Aiming at singular property for a class of link constrained manipulator, the design of soft sliding mode controller is considered by disturbance compensation in this paper. First, a singular system model of a three-link manipulator is established by the constraint equations and the force descriptions. Then, a dynamic switching function is given and a novel discrete singular exponential reaching law with dynamic disturbance compensation is designed. Finally, soft sliding mode controller for three-link constrained manipulator with uncertainties is discussed by the proposed discrete reaching law. Moreover, it can drive the manipulator system to reach the switching band in finite time and remain on the switching plane. The reason of system chattering will be analyzed and the width of the switching band will be decreased by the proposed controller.

Tükel, Dilek Bilgin (Dogus Author) -- Dimirovski, Georgi M. (Dogus Author) An extended Labanotation for an industrial robot was developed and applied. A user-friendly program was designed to help design dance choreography. The program, LabanRobot, has a simple interface that can be used without any prior knowledge of the robot. The choreographer should keep geometry in mind and plan the dance sequence accordingly. The conversion of dance sequences to robot motion is done automatically by the program. Details of the algorithm are given. Examples of simulation and on-stage-performance are shown.

Summary Recent scientific evidence has shown that risk behaviors tend to form a risk cluster, but less attention is paid to clustering ability of light forms of risky behavior like social drinking. The objective of the study was to analyze the risk clustering potential of social drinking. We conducted a survey using a self-completed questionnaire. Of 903 students (aged 15-19), 279 (30.9%) were found to be abstainers (NDA), and 455 (50.39%) were social drinkers (SDA). These two groups were compared statistically, concerning smoking and drugs use among them and their significant others. SDAs were more likely to smoke (OR=3.29; 95% Cl 2.35-4.59) than NDAs but not more likely to use soft drugs. Their fathers (OR=1.4; 95% Cl 1.04-1.89), friends (OR=1.78; 95% Cl 1.31-2.42) and lovers (OR=2.01; 95% Cl 1.39-2.89) were also significantly more likely to smoke, but only friends were more likely to use soft drugs (OR=1.75; 95% Cl 1.19- 2.58). SDAs were also more likely to start smoking in order to be closer to their peers (OR=l .84; 95% Cl 1.01- 3.37) and to smoke when communicate with peers (OR=2.12; 95% Cl 1.40-3.21). Risk clustering in social drinking adolescents is limited to smoking and does not expand to drug use, irrespective of provocation by friends. Heavy smoking among SDAs’ significant others might contribute for SDA smoking. So SDAs seem to be resistant to the psycho-social mechanisms adding drug use to drinking but sensitive to psycho-social mechanisms adding smoking to drinking.

SummaryIt is well known that some psychological features of adolescents are positively associated with alcohol drinking but less attention is paid to the psychological features of their significant others. The aim of the study was to describe a common psychological profile of significant others to regularly alcohol drinking adolescents. A survey was conducted using an original questionnaire, which classifying alcohol drinking as regular, social (incidental) and abstinence. Of 903 students (aged 15-19), 169 identified themselves as regular drinkers (RDA) and 279 - as abstainers (NDA). The significant others of these two groups were compared statistically in terms of a wide range of psychological features. It was found that RDAs were significantly more likely to have: fathers (OR=1.94; 95% Cl 1.04-3.62) and friends (OR=l .55; 95% Cl 1.02-2.36) that tended to avoid obligations in favor of pleasure; extravert friends (OR=1.55; 95% Cl 1.06-2.28) and lovers (OR=1.72; 95% Cl 1.14-2.59); impulsive lovers (OR=l .76; 95% Cl 2.86- 1.08), and obeying (OR=l .95; 95% Cl 1.01-3.80) friends; conventional fathers (OR=2.17; 95% Cl 1.27-3.72) and less likely to have independent mothers (OR=0.57; 95% Cl 0.32-0.99) and hardworking friends (OR=0.58; 0.35- 0.95). It seems that significant others of RDAs are less likely to exhibit models of rational reactions in everyday life that prevent adolescents from developing rational personality, thus making it possible to increase the probability of regular drinking in adolescence.

This paper investigates the exponential stability problem for a class of multi-area power systems with time delays under load frequency controller failures LFCFs. For describing the phenomenon of LFCFs, the considered multi-area power system is rewritten as a switched system with multiple time delays. By adopting the switching technique, the exponential stability conditions for multi-area power systems are developed when the controller failure frequency and the unavailability ratio of the controller are restricted. Finally, one example is given to show the applicability of the proposed method.

The transition to cloud-based technology in the field of CNC systems requires significant changes to the architecture of the control system, which is associated with a partial loss of funds already invested in its development. The paper suggests an approach to the architectural organization of the CNC system modules, which allows reconfiguring the control system on-the-fly in order to form any of the possible solutions: the classical layout of the CNC system, the extended layout (using an external interpolator), or the cloud layout of the CNC system. Experimental studies were carried using the 3-axis machining of parts on a milling machine with the cloud layout of the CNC system.

Bunjaku, Drilon/0000-0003-4090-4170 Control problems for plants that are described with models employing descriptor or singular linear systems was an intensive research area in the past. Still it is an open and interesting research topic due to issues of efficient solving differential equations under algebraic constraints. This paper presents a new practical and/or applicable solution to the output feedback control problems with controlled and measurement outputs by using descriptor generalized plant (GP) representation. It is derived through an appropriate transformation into control problem with a state-space GP. This new approach yielded a method of finding optimal controllers for descriptor GPs that simplifies all the existing methods. In addition, relevant regularity conditions for descriptor GP are defined and necessary and sufficient conditions are derived, which are expressed in terms of the given data matrices. In turn, it is proven that the original descriptor GP is regular, if and only if the state-space GP, obtained by a static output feedback (SOF), is regular. The third paper's result is a H-infinity controller design with more robust properties with respect to the existing H-infinity controllers and of reduced order. The controller is obtained by solving a SOF problem and a two-block problem. Several numerical examples are given within the main sections in order to clarify the novel results of this paper. (C) 2019 The Franklin Institute. Published by Elsevier Ltd. All rights reserved. Slovenian Research AgencySlovenian Research Agency - Slovenia [P2-0001] The support from the Slovenian Research Agency through grants P2-0001 isgratefully acknowledged.

A topic of recent interest is how to apply crowdsourced information toward producing better software requirements. A research question that has received little attention so far is how to leverage crowdsourced information toward creating better-informed models of requirements. In this paper, we contribute a method following which information in online discussions may be leveraged toward constructing goal models. A salient feature of our method is that it applies high-level queries to draw out potentially relevant information from discussions. We also give a subjective logic-based method for deriving an ordering of the goals based on the amount of supporting and rebutting evidence in the discussions. Such an ordering can potentially be applied toward prioritizing goals for implementation.

Modern CNC systems applicability to prospective production technologies is investigated. A systematic approach to building the control platform and creating on its base specialized CNC systems is proposed. The application of the decomposition method in CNC systems allows allocating a limited, but extensible set of software and hardware components that implement the treatment technology, and construct a matrix of solutions for the subsequent synthesis of specialized CNC systems. Synthesis is performed by arranging the hardware and software modules that create a control system according a particular processing facility. The creation of specialized CNC system for multi-tasking planning and milling machine is illustrated.

ARM-based CNC systems are used as a low-cost solution for controlling 2-3 axis machines. The increase of computing power of ARM processors facilitated their application to controlling multi-tasking and multi-axis machines with several independent control channels. The paper presents the results of the exploratory investigation of the transition from the PC-based to the ARM-based CNC solution. The cross-platform architecture of CNC systems, the porting of CNC kernel software to the single-board computers Raspberry Pi 2 with the Linux operating system and the control of servo drives and PLC I/O over EtherCAT fieldbus with cycle time of 2 ms are investigated as well. The dual-channel configuration of ARM-based CNC designed to control the multi-tasking turning and milling machine with inclined layout is presented. The paper illustrates the kinematic scheme and the network architecture of NAKLON 535 machining center for ARM-based CNC solution.

Summary The association between adolescent drinking and drinking of significant others is well known but underlying mechanisms are still not well understood. The purpose of the study was to investigate the association between social drinking in adolescents and drinking patterns of their significant others. We conducted a survey using a self-completed questionnaire on alcohol drinking habits. Of 903 students (aged 15-19), 279 (30.9%) were found to be abstainers (NDA) and 455 (50.39%) – social drinkers (SDA). These two groups were compared statistically about drinking patterns of their significant others. It was found that SDA were more likely to have fathers (OR=0.26; 95%CI=0.19-0.37), mothers (OR=0.26; 95%CI=0.19-0.37), friends (OR=0.26; 95%CI=0.19-0.37) and lovers (OR=0.26; 95%CI=0.19-0.37) that drank socially than NDA, but there were no significant differences in regular drinking of their fathers, friends and lovers. Only SDA mothers were more likely to drink regularly (OR=0.26; 95%CI=0.19-0.37). SDA were also more likely to receive alcohol offers from all their significant others, except from lovers. Social drinking in adolescence seems to be strongly socially motivated by drinking modeling and social pressure. The SDA mothers’ regular drinking is hard to explain in terms of social learning and social control theory and needs an alternative explanation.

Summary Jacob Moreno defined sociometry as “the inquiry into the evolution and organization of groups and the position of individuals within them”. Every person composes their own group of significant others and the social relations in this dominated by the person group of the most important people in their life is called sociometric profile. The sociometric profile provides an opportunity to reveal social bonds, dependences and influences that impact one's behavior. The aim of the study was to describe the sociometric profile of regularly drinking adolescents as a result from comparison with the sociometric profile of non-drinking adolescents. We conducted a survey among 903 students (aged 15-19), by means of a self-administered questionnaire about relations with father, mother, friends and lovers. Of these, 169 identified themselves as regular drinkers (RDAs) and 279 ‒ as abstainers (NDAs). We compared these groups to reveal the comparative sociometric profile of drinking adolescents. It was found that RDAs were significantly more likely to be: 1) highly dependent on their lovers (OR=1.6); 2) detached from their mothers (OR=4.55); 3) in ambivalent relations with their friends; 4) without significant differences in relations with their fathers. It seems that the Stars of RDAs are their lovers, the Isolates are their mothers and friends are their ambivalent Mutual Choice. This comparative sociogram suggests that lovers are likely to be the most influencing person among RDAs' significant others and intimate relations might be the main target in alcohol prevention programs.

Summary Parental alcohol drinking is associated with an increased risk of alcohol consumption in adolescents and social drinking is often the first step to regular alcohol consumption. The purpose of the study was to investigate the association between social drinking in adolescence and parental alcohol consumption. We conducted a survey, using a self-completed questionnaire about alcohol drinking habits. Of 903 students (aged 15-19), 279 (30.9%) were found to be abstainers (NDA) and 455 (50.39%) were social drinkers (SDA). These two groups were statistically compared for drinking patterns of their parents. It was found that SDA are fourfold less likely than NDA to have two alcohol abstaining parents (OR=0.26, 95%CI =0.19-0.37) and fourfold more likely to have two alcohol drinking parents (OR=3.89, 95%CI =2.77-5.45). There were no significant differences between SDA and NDA regarding probability to have one abstaining and one socially drinking parent, and SDA were less likely to have one abstaining and one regularly drinking parent (OR=0.54, 0.37-0.8). The social learning theory explains well adolescent drinking patterns when there is no contradiction in parental modeling. It seems, however, that the presence of contradicting patterns of parental alcohol drinking needs another explanation. Since contradicting parental modeling prevents adolescents from social drinking, it could be considered in health prevention intervention.

Dimirovski, Georgi M. (Dogus Author) Nonlinear control of aircraft engines has attracted much attention in consideration of the inherent nonlinearity of the engine dynamics. Most of the nonlinear design techniques, however, require the information from the rotational speeds of both high-pressure compressor and fan. This is not desirable from engine health management perspective, and this paper proposes a single sensor measurement and single actuator control approach. The proposed method can provide fast regulation of engine speed in a finite-time in comparison with conventional infinite time stability. Important results are obtained on both controller design and disturbance tolerance. Numerical examples are provided for validation of the proposed finite-time controller, demonstrating fast regulation property and remarkable disturbance tolerance capability.

Dimirovski, Georgi M. (Dogus Author) -- Full conference title: 18th IFAC World Congress Milano (Italy) August 28 - September 2, 2011. Before the political change in the Case-study country of Poland, the system governing there encouraged unethical behaviour or even forced it. The paper discusses the most frequent methods used by the unethical power to force the actual pioneers of ICT and automation in the case study country to abandon performing their professions. The example of the most experienced leading designer of ICT and automation in the pioneering era in Poland depicts some effective ways to struggle with the improper actions of the power.

Online discussions about software applications generate a large amount of requirements-related information. This information can potentially be usefully applied in requirements engineering; however currently, there are few systematic approaches for extracting such information. To address this gap, we propose Canary, an approach for extracting and querying requirements-related information in online discussions. The highlight of our approach is a high-level query language that combines aspects of both requirements and discussion in online forums. We give the semantics of the query language in terms of relational databases and SQL. We demonstrate the usefulness of the language using examples on real data extracted from online discussions. Our approach relies on human annotations of online discussions. We highlight the subtleties involved in interpreting the content in online discussions and the assumptions and choices we made to effectively address them. We demonstrate the feasibility of generating high-quality annotations by obtaining them from lay Amazon Mechanical Turk users.

A novel discrete-time synthesis for WAN-based computer control of networked control systems with a class of nonlinear plants is developed. Such a networked control systems are assumed to comprise an affine nonlinear plant process to be controlled and a linear digital controller in presence of WAN induced time delays. It can be viewed as a typical hybrid control system with network-induced delays. Sufficient conditions for guaranteed exponential closed-loop stability have been derived via the proposed discrete-time synthesis. These novel results have been tested by application to an illustrative example from the literature. The obtained numerical and simulation results have demonstrated considerable control effectiveness as well as quality transient performance for the class of affine nonlinear plant system models.

This paper is focused on exploring the fascinating ideas about complexity in systems science conjunction with the synergies of control, communication and computing via a certain overview. By no means attempts are made to give final answers on what the control of complex systems may comprise. Rather it is an essay-like exposition of personal visions of complexity and controlled complex network and systems from the viewpoint of computational cybernetics. Though, it is also dedicated to explore the issues of integrated control and supervision within their possible interplay over complex plant processes. The justification for continuing the adventure of investigating controlled complex systems from a standpoint of physics and not solely mathematics is found to emerge by itself inevitably. It has been found, the cybernetic physics of complex networks and systems as well as their feasible controls is an open exploration road towards many unknowns. The analysis framework is based on the set-theoretic approach to systems science from the perspective of Lyapunov stability theory being employed.

This article discusses the general structure of the CNC control system with the Soft PLC module which was implemented as an external unit. The advantages of reducing the EtherCAT cycle, increasing control system reliability and disadvantages associated with the additional cost of the proposed solution were investigated. The proposed solution also uses the external Soft PLC instead of the safety controller and reduces hardware requirements to CNC. This ultimately leads to an overall reduction in the cost of the distributed control system. Hardware solutions analysis was conducted to select a single-board microcomputer for Soft PLC. A solution was offered for communication between the CNC and the external Soft PLC.

This article considers the robust H∞ sliding mode control problem for a class of uncertain switched delay systems. A single sliding surface is constructed such that the reduced-order equivalent sliding motion restricted to the sliding surface is completely invariant to all admissible uncertainties. For cases of known delay and unknown delay, the existence conditions of the sliding surface are proposed, respectively. The corresponding hysteresis switching laws are designed such that the sliding motion is stabilisable with H∞ disturbance attenuation level γ. Furthermore, variable structure controllers are developed to drive the state of the switched system to reach the single sliding surface in finite time and remain on it thereafter. Finally, two numerical examples are given to illustrate the effectiveness of the proposed design methods.

Summary It is well known that some psychological features of adolescents as extraversion, risk-taking and impulsivity positively associate with substance abuse. The aim of the study was a description of psychological features of adolescents associated with regular alcohol drinking. We conducted a survey using an original questionnaire, classifying alcohol drinking as regular, social (incidental) and abstinence. The adolescents were asked to evaluate their own patterns of drinking. Of the 903 investigated students (aged 15-19), 169 identified themselves as regular alcohol drinkers (RDA), and 279 – as abstainers (NDA). These two groups were compared statistically in terms of a wide range of self-described psychological features. It was found that RDA were more likely to strive for dominant positioning in intersubjective relations (OR 1.8, 95%CI 1.22-2.65), more likely to avoid academic obligations (OR 1.61, 95%CI 1.08-2.39), and more likely to postpone their duties in everyday life (OR 1.81, 95%CI 1.23-2.67). It seems that regular drinking positively associates with egocentric personality traits and help is needed in personality development that could have a positive secondary effect on alcohol prevention.

Summary This paper studies the stability of multi-machine power systems via simultaneous design of boiler fuel flow control, turbine main steam valve control and generator excitation control for the boiler-turbine-generator unit. Because the whole system is coupled among generators and has multi-parametric uncertainties, the decentralized adaptive coordinated controller design is considered and is based on the adaptive backstepping method. Moreover, in addition to the transient stability of the power angle and power oscillation, the voltage regulation is also an important property in power systems. Thus, the global control technique is used to simultaneously ensure both the transient stability and the voltage regulation. Furthermore, we improve the transient performance of power systems greatly by introducing the state-constrained control. Simulation results show the effectiveness and advantage of the proposed controller. Copyright © 2014 John Wiley & Sons, Ltd.

Dimirovski, Georgi M. (Dogus Author) -- Conference full title: 17th World Congress, International Federation of Automatic Control, IFAC; Seoul; South Korea; 6 July 2008 through 11 July 2008. This paper is about the application of adaptive sliding mode control to solving congestion problem for DiffServ Network. A nonlinear fluid flow model which is transformed into a parametric strict feedback form is used to analyze and control. Backstepping design procedure is applied, which leads to a new adaptive sliding mode controller. And by using the adaptive sliding mode controller, we achieve buffer queue length regulation against model uncertainties and disturbances. The simulation results show that the proposed control system is robust to unknown nonlinearities and disturbances.

Dimirovski, Georgi M. (Dogus Author) -- Conference full title: 17th World Congress, International Federation of Automatic Control, IFAC; Seoul; South Korea; 6 July 2008 through 11 July 2008. Based on the Unscented Kalman Filter (UKF), the nonlinear filter is presented for parameter estimation in linear system with correlated noise where the unknown parameters are estimated as a part of an enlarged state vector. To avoid the computational burden in determining the state estimates when only the parameter estimates are required, a new form of UKF, where the state consists only of the parameters to be estimated, is proposed. The algorithm is based on the inclusion of the computed residuals in the observation matrix of a state representation of the system. Convergence properties of the proposed algorithm are analyzed and ensured. The algorithm is verified by using Matlab simulations on the vehicle navigation systems with aided GPS.

Dimirovski, Georgi M. (Dogus Author) -- Conference full title: 17th World Congress, International Federation of Automatic Control, IFAC; Seoul; South Korea; 6 July 2008 through 11 July 2008. The output feedback stabilizability problem of a class of uncertain switched systems is investigated using sliding mode control and a synthesis design solution derived. Firstly, a common sliding surface is constructed such that the system restricted to the sliding surface is asymptotically stable and completely invariant to matched and mismatched uncertainties under arbitrary switching. Secondly, static and dynamic output feedback variable structure controllers are designed that can drive the state of the switched system to reach the common sliding surface in finite time and remain them thereafter. A illustrative example is given to demonstrate the effectiveness of the proposed method.

Dimirovski, Georgi M. (Dogus Author) -- Conference full title: 17th World Congress, International Federation of Automatic Control, IFAC; Seoul; South Korea; 6 July 2008 through 11 July 2008. A model of a kind of uncertain switched fuzzy systems is presented first, in which each subsystem is an uncertain fuzzy system. Then the robust stabilization problem to the system is studied and a solution proposed. When the upper bounds of the disturbances are unknown, and the actuator is serious failure and the residual part of actuator can not make original system stable, a reliable robust adaptive controller is constructed to guarantee the closed-loop system is uniformly ultimately bounded via using switching technique and multiple Lyapunov function approach. The switching strategy achieving system uniformly ultimately bounded of the uncertain switched fuzzy system is given. An illustrative example is given that demonstrates the feasibility and the effectiveness of the proposed method.

Dimirovski, Georgi M. (Dogus Author) -- Conference full title: 17th World Congress, International Federation of Automatic Control, IFAC; Seoul; South Korea; 6 July 2008 through 11 July 2008. For the congestion problems in high-speed networks, a Metropolis criterion based Q-learning flow controller is proposed. Because of the uncertainties and highly time-varying, it is not easy to accurately obtain the complete information for high-speed networks. The Q-learning algorithm, which is independent of mathematic model, shows the particular superiority in high-speed networks. It obtains the optimal Q-values through interaction with the environment to improve its behavior policy. The Metropolis criterion of simulated annealing algorithm can cope with the balance between exploration and exploitation in Q-learning. By means of learning procedures, the proposed controller can learn to take the best action to regulate source flow with the features of high throughput and low packet loss ratio. Simulation results show that the proposed method can promote the performance of the networks and avoid the occurrence of congestion effectively.

Dimirovski, Georgi M. (Dogus Author) -- Conference full title: 17th IFAC World Congress, July 6-11, 2008, Seoul, Korea. This paper investigates the robust sliding mode control problem for a class of uncertain switched delay systems. A single sliding surface is constructed such that the reduced-order equivalent sliding motion restricted to the sliding surface is completely invariant to all admissible uncertainties. For the cases of known delay and unknown delay, the existence conditions of the sliding surface are proposed, respectively. The corresponding hysteresis switching laws are designed to asymptotically stabilize the sliding motion. Furthermore, variable structure controllers are developed to drive the state of the switched system to reach the single sliding surface in finite time and remain on it thereafter. Finally, a numerical example is given to illustrate the effectiveness of the proposed method.

Dimirovski, Georgi M. (Dogus Author) -- Conference full title: 17th World Congress, International Federation of Automatic Control, IFAC; Seoul; South Korea; 6 July 2008 through 11 July 2008. Modern advanced information technologies resulting from automation of control and decision processes along with ubiquitous communications have a multitude of impacts on development of national economies within the global economy. Thus all kinds of social systems, being essentially human centred systems, is a cross-, inter- and multi-disciplinary challenge to systems and control researchers. Social systems in modern civilization are reviewed from the systems science viewpoint and on the grounds of recent developments in control science and technology and with regard to globalization paradigm. The innovative systems approaches employing results from hybrid systems theory and dynamical networks are needed to address the now-old challenges of combined knowledge and technology transfer world wide for sustainable development that may remedy climate change and some of the negative socio economic aspects of globalization.

Dimirovski, Georgi M. (Dogus Author) -- Conference full title: Preprints of the IFAC Workshop Energy Saving Control in Plants and Buildings, 3 - 5 October 2006, Bansko, Bulgaria A design of fuzzy model-based predictive control for industrial furnaces has been derived and applied to the model of three-zone 25 MW RZS pusher furnace at Skopje Steelworks. The fuzzy-neural variant of Takagi-Sugeno fuzzy model, as an adaptive neuro-fuzzy implementation, is employed as a predictor in a predictive controller. In order to build the predictive controller the adaptation of the fuzzy model using dynamic process information is carried out. Optimization procedure employing a simplified gradient technique is used to calculate predictions of the future control actions. IFAC International Federation of Automatic Control (IFAC), IFAC Technical Committee on Cost Oriented Automation COA (TC 4.4), Fed. Sci. Tech. Unions Bulgaria (FNTS), Union of Automation and Informatics (UAI),Inf. Commun. Technol. Dev. Agency, MTC

Mankind civilization in the globalization age depends heavily on advanced information technologies resulting from automation of control and decision expertise and their respective scientific disciplines. These have a multitude of impacts on development of national economies within the global economy. The broad area of social systems, being essentially human centred systems, is a cross-, inter- and multi-disciplinary challenge to control community. Social systems in modern civilization, currently undergoing globalization, are reviewed from the systems science viewpoint and on the grounds of recent developments in control science and technology. Recent developments put new emphasis on the social responsibility of the control and automation field during the ongoing changes from the cold-war bipolar world to a unipolar one on the way to mankind's multi-polar world of the future. The focus should be on innovative systems approaches, employing new paradigms, to combined knowledge and technology transfer world-wide, that may remedy some of the negative aspects of globalization.

Dimirovski, Georgi M. (Dogus Author) The goal to control the dynamics of high-rise buildings either to ameliorate the damage or prevent their destruction when subject to an earthquake excitation has been subject of extensive research. All known control designs have advantages and disadvantages as well as operating limits. The application of sliding-mode control to controlling earthquake induced vibrations of a multi-story structural system as an active seismic compensation plus base isolation has been investigated. The performance has been compared to the one of traditional industrial controls, and relevant conclusions drawn. Simulation results, carried out using El Centro earthquake acceleration, have shown that the sliding mode control can decrease significantly displacements of the floors.

Dimirovski, Georgi M. (Dogus Author) A case study of two-level and set point-oriented controls in complex industrial heating plants has been carried out. Task-oriented controls occur at command and supervision level in conjunction with human process operator, while set-point controls occur at regulation level of energy conversion and heating process. Fuzzy logic control is involved on the second control level on the basis of products quality control. The control system has been implemented in factory for clay-brick productions "KIK" in Kumanovo. A suitable and intelligent automation can save energy and therefore costs. 16th Triennial World Congress of International, Federation of Automatic Control, IFAC 2005, Czech Republic