Shared human–robot path following control of an unmanned ground vehicle

This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.     

“方变圆”变径筒状结构滑模施工技术

为解决塔式光热的核心构筑物吸热塔"方变圆"变径超高筒体结构施工难题,选用一套可变形的滑模平台系统,通过操作系统上可调千斤顶支座、门架横向液压千斤顶装置、多处可调节模板角度和收缩模板的丝杆等,使得滑模根据施工需求可在一定的范围内调节模板倾角、间距,并逐步完成收缩变形,其理论滑模允许偏角20°,最终高效完成异形结构施工。该滑模系统刚度大、承载及堆料能力强、空间大、机械化程度高,施工操作简单,安全性高,适应沙漠极端环境。全过程仅需使用一套滑模体系,就能完成方形段、方变圆的变形段及圆形段施工,大大提高了施工效率,为类似环境下相似结构的施工提供了一定的参考。     

Notwendigkeit und Vermarktung von Flexibilitätsoptionen im Energiesystem der Zukunft

Demands on production, distribution and consumption of electrical energy change fundamentally with the energy revolution. Energy purchasing costs for inflexible consumers are rising and proceeds of inflexible producers are sinking. Companies are able to reduce costs by marketing operational flexibility options. This article sets out the need of flexibility in the energy system and the new marketing options. Flexibility potentials within infrastructure plants of a chemical park are analyzed, evaluated regarding marketing and activated in the presented research project FlexChemistry.     

Growth mechanism and gas-sensing characteristics of organic-additive-free zinc oxide of various shapes

Zinc oxide is widely used in gas sensors, solar cells, and photocatalysts because of its wide bandgap and exciton binding energy of 60 meV in various metal oxides. To use ZnO as a gas sensor, it is necessary to synthesize it with surface defects and a large specific surface area. In this study, hydrothermal synthesis without surfactants was employed to obtain organic-additive-free ZnO. For morphology control, we varied the ratio of the hydroxide ion concentration to the zinc ion concentration. To confirm the growth mechanism of ZnO, we performed X-ray diffraction, scanning electron microscopy, and transmission electron microscopy analyses. Raman spectroscopy and photoluminescence measurements were performed to analyze the surface properties. The Brunauer–Emmett–Teller method and probe stations were used to measure the specific surface area and sensitivity of the gas sensor, respectively. The results confirmed that flower-shaped ZnO is the most suitable gas-sensing material.     

Imperative role of electron microscopy in toxicity assessment: A review

Electron microscope (EM) was developed in 1931 and since then microscopical examination of both the biological and non-biological samples has been revolutionized. Modifications in electron microscopy techniques, such as scanning EM and transmission EM, have widened their applicability in the various sectors such as understanding of drug toxicity, development of mechanism, criminal site investigation, and characterization of the nano-molecule. The present review summarizes its role in important aspects such as toxicity assessment and disease diagnosis in special reference to SARS-COV2. In the biological system, EM studies have elucidated the impact of toxicants at the ultra-structural level in various tissue in conformity to physiological alterations. Thus, EM can be concluded as an important tool in toxicity assessment and disease prognosis.     

Comparison of Bougainvillea spectabilis and Bougainvillea glabra species inhibited in Pakistan based on microscopic studies: Light microscope and scanning electron microscope

The anatomical variations of two plants from the Nyctaginaceae family, Bougainvillea spectabilis and Bougainvillea glabra, were studied using light and scanning electron microscopy methods in this work. Bougainvillea is a dicotyledonous with defensive traits that can withstand extreme (hot and dry) settings; according to the findings, crystal inclusions in cells, woody spines, and an abnormal development pattern are all features that help them survive against predators and are unique to this species. The Bougainvillea plant's leaves are arranged in simple pattern, alternate to each other along stem having an undulate leaves edge and an oval form. The xylem and phloem, palisade, parenchyma midrib, spongy mesophyll, raphide crystal bundles, and trichomes were all visible when bracts and leaves were transversally sectioned and dyed with toluidine blue O (TBO). The presence of crystals was confirmed by a detailed examination of the transverse leaves by using bright-field and cross-polarizing microscopy. Dissecting microscopic examination showed that all the leaves revealed leaves venation pattern that had midvein, lateral veins areoles, and trichomes. Although trichomes have been identified on both sides, a closer look at a cleaned leaf dyed with TBO showed multicellular abundant trichomes on adaxial surface. Stomata complexes were typically found on the abaxial surface of the leaf according to epidermal peels. Present studies also showed that on adaxial side, stomata were lesser in number or were absent and also showed that the morphologies of the pavement cells on the adaxial and abaxial sides of the leaf differed.     

超声波辅助水蒸气提取柠檬精油工艺优化及成分分析

以柠檬果皮为原料,研究超声波辅助水蒸气蒸馏提取柠檬精油的最佳工艺条件。在单因素试验基础上,选取超声波功率、料液比、超声波时间及蒸馏时间为影响因素,以提取率为响应值,设计响应面试验;通过气相色谱—质谱法对柠檬精油的化学组分进行检测,采用扫描电镜对柠檬皮的微观结构进行观察。结果表明,最佳工艺条件为:超声波功率320W、液料比15.51(mL/g)、超声波时间36min、蒸馏时间140min,提取率可达1.97%;柠檬精油中共鉴定出26种化学成分,占总成分的96.16%,主要成分为柠檬烯;扫描电镜观察表明,超声波显著破坏原料细胞结构,促进了精油的快速释放。该工艺与水蒸气蒸馏提取相比,提取率相近,但明显缩短了提取时间。超声波辅助提取柠檬精油是一种有效的提取方法。     

板式热交换器板片展开系数测量技术及装置开发

针对板式热交换器板片展开系数人工手动测量方式误差大、效率低且测量精度有限等缺点,研发了新型自动测量装置。该装置以激光扫描传感器为核心测量元件,以精密直线导轨为测量元件的运动载体,以便携式工控机为数据处理中心,是在传统人工测量方式基础上的改进和创新。该测量装置样机已在工厂投用,试用效果良好。     

Study of macromolecular interactions in low‐fat brined cheese modified with Zedu gum

The functionality of Zedu gum as a fat mimetic in low‐fat brined cheese was studied. The physicochemical, textural, rheological, microstructural and sensory properties of cheese samples modified with 0.1% and 0.25% of Zedu gum were compared to those of control cheeses (low‐fat and full‐fat cheeses with no fat mimetic) during ripening. To obtain further information about the cheeses' structure and interactions between macromolecules (casein protein and Zedu gum), other parameters were analysed by differential scanning calorimetry and Fourier transform infrared (FTIR) spectroscopy. Incorporation of Zedu gum into low‐fat cheese caused an open microstructure and softer texture in comparison with the control low‐fat cheese. The thermal properties and FTIR spectra of the cheeses were influenced by both fat mimetic and ripening time. On days 1 and 60 of ripening time, the lower value of enthalpy of the low‐fat cheese with 0.25 g of Zedu gum/kg of milk (AS 0.25) in comparison with control low‐fat cheese could have been due to the electrostatic nature of the interactions between Zedu gum and casein protein. On both days, the FTIR spectrum of AS 0.25 showed a well separated absorption at 1746 cm^?1 possibly due to the formation of ester groups as a result of the interaction of the carbonyl groups in Zedu gum with the hydroxyl groups of some amino acids in casein.     

A new controller for boost dc–dc converters based on a novel sliding surface

ABSTRACT

In this paper, two control schemes for boost converters affected by uncertainties in input voltage and load are proposed. The boost converter dynamics is redefined in terms of new state variables to facilitate the use of a disturbance observer that can estimate matched and unmatched disturbances. A sliding surface, which is new in the context of boost converters, is proposed to enable tracking and regulation of output voltage without requiring measurement of input voltage and load current. The stability of the overall system including the disturbance observer, the sliding variable and the output is proved. The performance of the schemes is assessed for regulation of output voltage and tracking of reference voltage by simulation as well as experimentation in which various types of uncertainties and various types of reference voltages are considered.