Robust Backstepping Control Based on Integral Sliding Modes for Tracking of Quadrotors

Modern non-inertial robots are usually underactuated, such as fix or rotary wing Unmanned Aerial Vehicles (UAVs), underwater or nautical robots, to name a few. Those systems are subject to complex aerodynamic or hydrodynamic forces which make the dynamic model more difficult, and typically are subject to bounded smooth time-varying disturbances. In these systems, it is preferred a formal control approach whose closed-loop system can predict an acceptable performance since deviations may produce instability and may lead to catastrophic results. Backstepping provides an intuitive solution since it solves underactuation iteratively through slaving the actuated subsystem so as to provide a virtual controller in order to stabilize the underactuated subsystem. However it requires a full knowledge of the plant and derivatives of the state, which it is prone to instability for any uncertainty; and although robust sliding mode has been proposed, discontinuities may be harmful for air- or water-borne nonlinear plants. In this paper, a novel robust backstepping-based controller that induces integral sliding modes is proposed for the Newton–Euler underactuated dynamic model of a quadrotor subject to smooth bounded disturbances, including wind gust and sideslip aerodynamics, as well as dissipative drag in position and orientation dynamics. The chattering-free sliding mode compensates for persistent or intermittent, and possible unmatched state dependant disturbances with reduced information of the dynamic model. Representative simulations are presented and discussed.     

A novel approach to include sustainability concepts in classical DFMA methodology for sheet metal enclosure devices

Nowadays sustainable design is a mandatory requirement in the product development process. For this reason, design methodologies are addressed to establish a close relationship between environmental, social and economic impact indicators and product features from early design stages, especially in those features related to its manufacturing. In this paper, the design for manufacturing and assembly—DFMA methodology is adapted to sheet metal enclosure devices, integrating functional and component relationships to minimize particular sustainability indicators such as energy consumption, carbon footprint, number of parts, required amount of material, assembly time and manufacturing costs. Savings with the proposed method are achieved following specific sub-tasks oriented to define new simplified product components, considering changes in manufacturing processes and re-defining mechanical connections between parts. Traditional DFMA approaches consider manufacturing and assembly issues related to a reduction of product complexity and economic savings. The proposed method aims to examine the benefits in life cycle stages such as raw material consumption, service, maintenance, upgrading and end of life—EOL. The methodology is validated through a redesign of a sheet metal industrial clock, in which the sustainability impacts are calculated from a comparison of an existent product vs. a new product development. The implementation of the method in the case study demonstrate reductions of more than 25% in product mass, consumed energy and CO₂ footprint, and more than 50% in theoretical assembly time and product complexity. Sustainability indicators of the proposed method are selected from literature analysis and taking into account attributes of sheet metal enclosure devices.     

Optimal control theory for sustainable environmental management

Sustainable ecosystem management aims to promote the structure and operation of the human components of the system while simultaneously ensuring the persistence of the structures and operation of the natural component. Given the complexity of this task owing to the diverse temporal and spatial scales and multidisciplinary interactions, a systems theory approach based on sound mathematical techniques is essential. Two important aspects of this approach are formulation of sustainability-based objectives and development of the management strategies. Fisher information can be used as the basis of a sustainability hypothesis to formulate relevant mathematical objectives for disparate systems, and optimal control theory provides the means to derive time-dependent management strategies. Partial correlation coefficient analysis is an efficient technique to identify the appropriate control variables for policy development. This paper represents a proof of concept for this approach using a model system that includes an ecosystem, humans, a very rudimentary industrial process, and a very simple agricultural system. Formulation and solution of the control problems help in identifying the effective management options which offer guidelines for policies in real systems. The results also emphasize that management using multiple parameters of different nature can be distinctly effective.     

Centrifugally spun mats based on biopolyesters/hydroxyapatite and their potential as bone scaffolds

This work studied the potential of centrifugal spinning for the production of fibrous materials based on poly(D,L-lactic acid) (PDLLA) and poly(3-hydroxybutyrate) (PHB) with hydroxyapatite nanoparticles (n-Hap). The influence of n-Hap concentration (5, 10, and 15 wt.%) and spinneret angular speed on the final fiber morphology were analyzed. Further experimental evaluations were implemented to determine the effect of n-Hap on the thermal and mechanical performance. The optimum parameters that show a balance among high yield production of homogeneous fibers with the smallest fiber average diameter were found to be at 5 wt.% of n-Hap processed at 7000 rpm for PDLLA, and 5, 10, and 15 wt.% of n-Hap at 6000 rpm for PHB. The thermal stability, for both systems, was not significantly affected. The mechanical performance of PHB systems was improved with the addition of n-Hap. Osteoblast cell viability tests depicted a favorable cell response on the PDLLA systems.     

Detecting dynamic system regime boundaries with Fisher information: the case of ecosystems

Clean Technologies and Environmental Policy - The direct measurement of the resilience (resistance to disturbances) of an ecosystem’s current regime (or “alternative stable...     

Microstructural Development of ZnO Pellets Doped with Different Vanadium Oxides (V2O5 and V2O3)

This work presents the effect of zinc oxide (ZnO) ceramics, doped with different percentages of vanadium trioxide (V₂O₃) and vanadium pentoxide (V₂O₅). Samples were analyzed by X-ray diffraction and scanning electron microscopy. The addition of V₂O₃ or V₂O₅ produced changes in the composition and morphology of the pellets. In both cases, different zinc vanadates were detected as secondary phases: α-Zn₃(VO₄)₂ and Zn₄V₂O₉. Furthermore, when the vanadium concentration was equal to or higher than 3 wt%, the presence of filaments was detected on the surface of the pellets. These filaments were produced due to vanadium segregation. However, this effect was only observed at the surface of the pellets. On the bulk, the filaments were not observed. Instead, vanadium was found at the interfaces between the ZnO grains and at triple points, as it could be expected.     

HPLC quantification of major active components from 11 different saffron (Crocus sativus L.) sources

Eleven certified saffron samples (Crocus sativus L.), one each from Azerbaijan, China, Greece, France, India, Iran, Italy, New Zealand, Spain, Turkey and the Sigma Chemical Company, were analyzed by using an HPLC photodiode array detection method. This analysis quantified the 10 major saffron compounds in each sample and their concentration was analyzed at three different wavelengths. Results indicated that the Greek, Indian, New Zealand, and Spanish saffron extracts possessed the highest concentrations of water-soluble glycosidic carotenoids (?8.0%) suggesting that they could be a good source of this type of metabolites for further biological evaluation.