Nonlinear state feedback controller design for underactuated mechanical system: a modified block backstepping approach.

This paper presents the formulation of a novel block-backstepping based control algorithm to address the stabilization problem for a generalized nonlinear underactuated mechanical system. For the convenience of compact design, first, the state model of the underactuated system has been converted into the block-strict feedback form. Next, we have incorporated backstepping control action to derive the expression of the control input for the generic nonlinear underactuated system.

Hybrid multiresolution Slantlet transform and fuzzy c-means clustering approach for normal-pathological brain MR image segregation.

The paper presents a new approach for automated segregation of brain MR images, using an improved orthogonal discrete wavelet transform (DWT), known as the Slantlet transform (ST), and a fuzzy c-means (FCM) clustering approach. ST has excellent time-frequency resolution characteristics and these can be achieved with shorter supports for the filter, compared to DWT employed for identical situations. FCM clustering, on the other hand, can provide efficient classification results, if it is implemented for well-processed input feature vectors.