A global output-feedback controller for stabilization and tracking of underactuated ODIN: A spherical underwater vehicle

This paper presents a method to design an output-feedback controller that simultaneously solves global asymptotic stabilization and tracking of an underactuated omni-directional intelligent navigator—a spherical underwater vehicle moving in a horizontal plane (i.e. at a constant depth). The vehicle does not have a sway actuator and has only position and orientation measurements available. The control development is based on Lyapunov's direct method, backstepping technique and use of interconnected structure of the vehicle dynamics. Numerical simulations demonstrate the results.     

Comparing the Performance of Organic Solvent Nanofiltration Membranes in Non-Polar Solvents

Organic solvent nanofiltration (OSN) is gradually expanding from academic research to industrial implementation. The need for membranes with low and sharp molecular weight cutoffs that are able to operate under aggressive OSN conditions is increasing. However, the lack of comparable and uniform performance data frustrates the screening and membrane selection for processes. Here, a collaboration is presented between several academic and industrial partners analyzing the separation performance of 10 different membranes using three model process mixtures. Membrane materials range from classic polymeric and thin film composites (TFCs) to hybrid ceramic types. The model solutions were chosen to mimic cases relevant to today's industrial use: relatively low molar mass solutes (330–550 Da) in n-heptane, toluene, and anisole.     

An observer-controller combination for a unicycle mobile robot

This paper considers the problem of output feedback trajectory tracking with a unicycle mobile robot system. A state-feedback controller for the non-linear error dynamics of the robot is combined with an observer that estimates the orientation error based on available trajectory information and measurement of the position coordinates. A stability analysis, derivation and implementation of the resulting controller is given and tested on an experimental mobile robot.     

Coke deposition mechanism on the pores of a commercial Pt-Re/γ-Al2O3 naphtha reforming catalyst

Coke deposition mechanism on a commercial Pt-Re/γ-Al₂O₃ naphtha reforming catalyst was studied. A used catalyst that was in industrial reforming operation for 28 months, as well as the fresh catalyst of the unit were characterized using XRD, XRF, and nitrogen adsorption/desorption analyses. Carbon and sulfur contents of the fresh and the used catalysts were determined using Leco combustion analyzer. The pore size distributions (PSD) of the fresh and the used reforming catalysts were determined using BJH and Comparison Plot methods. The Comparison Plot method produced the most reasonable PSDs for the catalysts. Through comparison of the PSDs of the fresh and the used catalysts, it was revealed that coke deposited on both micropores and mesopores of the catalyst at a constant thickness of 1.0 nm. The constant coke thickness on the catalyst pore walls in the naphtha reforming process (temp. ∼ 500 °C) implies that coke deposition reaction is the slow controlling step in comparison to the fast mass transfer rate of coke ingredients into the pores. The bulk density of the deposited coke on the used catalyst was calculated as 0.966 g/cm³.     

Zeros at infinity for nonlinear discrete time systems

A new set of integer invariants of a discrete time nonlinear system is introduced. Following the linear and continuous time nonlinear theory, this set is called the structure at infinity of the system. These integers contain structural information about the system. To support this idea the general block decoupling problem and a special case of the noninteracting control problem are solved in terms of the zeros at infinity.Partially supported by NSF contract ECS-8505318.     

Stable mounting of beamsplitters for an interferometer

The Basic Angle Monitoring (BAM) system for satellite GAIA (2012–2018) will measure variation on the angle between the lines-of-sight between two telescopes with 2.5 prad uncertainty. It is a laser-interferometer system consisting of two optical benches with a number of mirrors and beamsplitters. The optical components need to be stable with respect to each other within 0.17 pm in position and 60 nrad in angle during measurements over a period of 6 h with 0.1 mK thermal stability. This paper aims at finding the most suitable mounting plane of the fused silica beamsplitters mounted onto the silicon carbide optical bench in the BAM system. These beamsplitters must be clamped mechanically. Based on a force stability analysis, mounting in the plane of light is a more stable solution than mounting on the reflective surface. However, when making a conceptual design the difficulty is making a design which has sufficient alignment stability to survive launch vibrations and a cool-down trajectory is more difficult.