This article aims to design a joint space tracking controller for robotic manipulators having uncertainties in their mathematical representations under the additional constraint that joint velocity sensing not being available. A two-part design is followed where in the first part, the modeling uncertainties are dealt with a self-organized adaptive fuzzy-logic (AFL)-based controller where full-state feedback (FSFB) is assumed. The stability analysis yields semiglobally uniformly ultimately bounded tracking results. In the second part, a high-gain joint velocity observer is designed followed by replacing error vectors in the FSFB controller with their saturated versions obtained from the observer design to arrive at a self-organized AFL-based robust output-feedback controller. The stability analysis is performed via a multiple-step Lyapunov-type method where the semiglobal uniform ultimate boundedness of the tracking error is ensured. Comparative experiment results obtained from a planar robotic manipulator are presented to demonstrate the efficacy of the proposed control methodology.

MOTIVATION: A serious limitation in microarray analysis is the unreliability of the data generated from low signal intensities. Such data may produce erroneous gene expression ratios and cause unnecessary validation or post-analysis follow-up tasks. Therefore, the elimination of unreliable signal intensities will enhance reproducibility and reliability of gene expression ratios produced from microarray data. In this study, we applied fuzzy c-means (FCM) and normal mixture modeling (NMM) based classification methods to separate microarray data into reliable and unreliable signal intensity populations. RESULTS: We compared the results of FCM classification with those of classification based on NMM. Both approaches were validated against reference sets of biological data consisting of only true positives and true negatives. We observed that both methods performed equally well in terms of sensitivity and specificity. Although a comparison of the computation times indicated that the fuzzy approach is computationally more efficient, other considerations support the use of NMM for the reliability analysis of microarray data. AVAILABILITY: The classification approaches described in this paper and sample microarray data are available as Matlab( TM ) (The MathWorks Inc., Natick, MA) programs (mfiles) and text files, respectively, at http://rc.kfshrc.edu.sa/bssc/staff/MusaAsyali/Downloads.asp. The programs can be run/tested on many different computer platforms where Matlab is available. CONTACT: [email protected].