Perfect tracking of ZMP trajectory for humanoid locomotion using repetitive control

Journal of Mechanical Science and Technology - In this paper, the tracking of the zero moment point (ZMP) trajectory for humanoid locomotion is addressed. For that, a combination of a repetitive...     

Survey on Passivity Based Control of Induction Machine

Induction machines (IM) constitute a theoretically interesting and practically important class of nonlinear systems. They are frequently used as wind generators for their power/cost ratio. They are described by a fifth‐order nonlinear differential equation with two inputs and only three state variables available for measurement. The control task is further complicated by the fact that IM are subject to unknown (load) disturbances and the parameters can be of great uncertainty. One is then faced with the challenging problem of controlling a highly nonlinear system, with unknown time‐varying parameters, where the regulated output, besides being unmeasurable, is perturbed by an unknown additive signal. Passivity‐based control (PBC) is a well‐established structure‐preserving design methodology which has shown to be very powerful to design robust controllers for physical systems described by Euler‐Lagrange equations of motion. PBCs provide a natural procedure to "shape" the potential energy yielding controllers with a clear physical interpretation in terms of interconnection of the system with its environment and are robust vis á vis to unmodeled dissipative effects. One recent approach of PBC is the Interconnection and Damping Assignment Passivity‐Based Control (IDA‐PBC) which is a very useful technique to control nonlinear systems assigning a desired (Port‐Controlled Hamiltonian) structure to the closed‐loop. The aim of this paper is to give a survey on different PBC of IM. The originality of this work is that the author proves that the well known field oriented control of IM is a particular case of the IDA‐PBC with disturbance.     

LAS Detector with Soft-Output MMSE Initialization Under Imperfect Channel Estimation and Channel Correlation

Wireless Personal Communications - This paper proposes a modified likelihood ascent search (LAS) algorithm for multiple-input multiple-output (MIMO) systems under correlated channel and imperfect...     

Thermo-protective properties of polymer composites with nano-titanium dioxide

International Journal of Mechanics and Materials in Design - The present work investigates the ablative and thermal properties of an epoxy resin which was modified with titanium dioxide...     

Can lanthanum doping enhance catalytic performance of silver in direct propylene epoxidation over NaMoAg/SiO_2?

In the attempt to reduce surface free energy of silica to improve interaction of silica with silver, silica was doped by different amounts of low surface energy lanthanum, La_2O_3, through impregnation. The doped and undoped silica were used as supports for preparation of Na/Ag/Mo/La_2O_3-SiO_2 catalysts. Catalytic performances of the catalysts were evaluated in direct epoxidation of propylene(DPO) using molecular oxygen under atmospheric pressure and without adding hydrogen. Adding 5 wt%La to the Na/Ag/Mo/SiO_2 catalyst improves both the catalysts electivity in DPO and its stability over 20h of time-on-stream.The characterization results show that La_2O_3 species interact strongly with silver particles on the silica surface which result in significant improvement in the dispersion profile of silver and marked decrease in the size of silver nanoparticles(AgNPs). The estimated mean diameter of AgNPs is ca. 4.0 nm in Na/Ag/Mo/5 wt%La_2O_3-SiO_2, which is smaller than that(53.9 nm) found in Na/Ag/SiO_2. The presence of subnanometer AgNPs on Ag/La_2O_3-SiO_2 prior addition of MoO_3 and NaCl to the sample can enhance the mutual electronic synergism between Ag, MoO_3 and Na for selective production of propylene oxide.     

Characterization and Beneficiation of Gold Mining By-products as Source of High-Quality Silica for High Technical Applications; Response Surface Studies and Optimization

Silicon - This paper aims to evaluate and upgrade the quality of quartz mining by-products through acid leaching process. The quartz samples were collected as gold mine by-products from El Sid-...     

Purification,structural data and biological properties of polysaccharide from Prunus amygdalus gum

This work demonstrates the efficiency of almond gum polysaccharides (AGPs) as bioactive compounds. AGPs were first extracted using H₂O₂, in the presence of NaOH, at different times and temperatures. The optimal extraction conditions were 4% H₂O₂ and 2 N NaOH, for 7 h at 50 °C, leading to an extraction yield of 58.2% (w/w). After a purification step, the retained AGPs were characterised using high‐performance liquid chromatography showing a molecular weight of 99.3 kDa. The monosaccharide composition of AGPs were assessed using gas chromatography–mass spectrometry. AGPs were found to be a complex heteropolysaccharide with a repeating unit mainly composed of galactose, arabinose, xylose, mannose, rhamnose, and glucuronic acid with the respective ratios: 45:26:7:10:1:11. The acidic nature of the polysaccharide is due to the presence of glucuronic acid. Total antioxidant activity, free radical‐scavenging activity and reducing power assay of AGPs were investigated. The obtained results showed high antioxidant activities of AGPs. Furthermore, beyond 60 mg mL^?1, AGPs exhibited bacterial growth inhibition for five pathogenic strains: Escherichia coli, Staphylococcus aureus, Enterococcus feacalis, Pseudomonas aeruginosa and Salmonella typhimurium.