Adaptive quaternion control of a 3-DOF inertial stabilised platforms

ABSTRACT

Inertial stabilised platforms are increasingly popular with a large range of products available mainstream. Most items are controlled using popular algorithms that sometimes do not offer best achievable performances. Present paper proposes an advanced control which aims at improving these latter. The exposed solution is based on quaternion representation and self-adapts to the characteristics of the payload it tries to stabilise. Proposed control law ensures the stability of the system whatever the required orientation path is. Although only simulation has been performed to check the performances of such control, results look very promising compared to non-adaptive controls and may help to construct more polyvalent and efficient gimbals which would further facilitate their expansion. Proposed control law can also be applied, as is, to every system that shares the same quaternion-based rotational dynamics.     

Composite short-side-chain PFSA electrolyte membranes containing selectively modified halloysite nanotubes (HNTs)

Aquivion membrane displays improved properties as compared to Nafion membrane, partly due to shorter side chains. However, some improvements are still necessary for proton exchange membrane fuel cell to operate at low relative humidity. To overcome this drawback, the addition of clay nanoparticle into the Aquivion matrix can be considered. In this study, different composite membranes have been prepared mixing short-side-chain PFSA (perfluorosulfonic acid) Aquivion and selectively modified halloysite nanotubes for PEMFC low relative humidity operation. Halloysites were grafted with fluorinated groups, sulfonated groups, or perfluoro-sulfonated groups on inner or outer surface of the tubes. The obtained composite membranes showed improved properties, especially higher water uptake associated with reduced swelling and better mechanical strength compared to pristine Aquivion membrane and commercially available Nafion HP used as reference. The best performance in this study was obtained with Aquivion loaded with 5 wt% of pretreated perfluoro-sulfonated halloysite. The composite membrane, referred to as Aq/pHNT-SF5, displayed the largest water uptake and proton conductivity among the panel of membranes tested. The chemical stability was not affected by the presence of halloysite in the Aquivion matrix.

Graphical abstract

     

In vitro digestion and DGT techniques for estimating cadmium and lead bioavailability in contaminated soils: influence of gastric juice pH

A sensitivity analysis was conducted on an in vitro gastrointestinal digestion test (i) to investigate the influence of a low variation of gastric juice pH on the bioaccessibility of Cd and Pb in smelter-contaminated soils (F_B, using the unified bioaccessibility method UBM) and fractions of metals that may be transported across the intestinal epithelium (F_A, using the diffusive gradient in thin film technique), and (ii) to provide a better understanding of the significance of pH in health risk assessment through ingestion of soil by children. The risk of metal exposure to children (hazard quotient, HQ) was determined for conditions that represent a worst-case scenario (i.e., ingestion rate of 200 mg day^− 1) using three separate calculations of metal daily intake: estimated daily intake (EDI), bioaccessible EDI (EDI-F_B), and oral bioavailable EDI (EDI-F_A). The increasing pH from 1.2 to 1.7 resulted in: (i) no significant variation in Cd-F_B in the gastric phase but a decrease in the gastrointestinal phase; (ii) a decrease in soluble Pb in the gastric phase and a significant variation in Pb-F_B in the gastrointestinal phase; (iii) a significant decrease in Cd-F_A and no variation in Pb-F_A; (iv) no change in EDI-F_B and EDI-F_A HQs for Cd; (v) a significant decrease in EDI-F_B HQs and no significant variation in EDI-F_A HQ for Pb. In the analytical conditions, these results show that risk to children decreases when the bioavailability of Pb in soils is taken into account and that the studied pH values do not affect the EDI-F_A HQs. The present results provide evidence that the inclusion of bioavailability analysis during health risk assessment could provide a more realistic estimate of Cd and Pb exposure, and opens a wide field of practical research on this topic (e.g., in contaminated site management).     

Mercury and methylmercury concentrations in high altitude lakes and fish (Arctic charr) from the French Alps related to watershed characteristics

Total mercury (THg) and methylmercury (MeHg) concentrations were measured in the muscle of Arctic charr (Salvelinus alpinus) and in the water column of 4 lakes that are located in the French Alps. Watershed characteristics were determined (6 coverage classes) for each lake in order to evaluate the influence of watershed composition on mercury and methylmercury concentrations in fish muscle and in the water column. THg and MeHg concentrations in surface water were relatively low and similar among lakes and watershed characteristics play a major role in determining water column Hg and MeHg levels. THg muscle concentrations for fish with either a standardized length of 220 mm, a standardized age of 5 years or for individualuals did not exceed the 0.5 mg kg^− 1 fish consumption advisory limit established for Hg by the World Health Organization (WHO, 1990). These relatively low THg concentrations can be explained by watershed characteristics, which lead to short Hg residence time in the water column, and also by the short trophic chain that is characteristic of mountain lakes. Growth rate did not seem to influence THg concentrations in fish muscles of these lakes and we observed no relationship between fish Hg concentrations and altitude. This study shows that in the French Alps, high altitude lakes have relatively low THg and MeHg concentrations in both the water column and in Arctic charr populations. Therefore, Hg does not appear to present a danger for local populations and the fishermen of these lakes.     

Atmospheric mercury depletion event study in Ny-Alesund (Svalbard) in spring 2005. Deposition and transformation of Hg in surface snow during springtime

A field campaign was conducted in Ny-Alesund (78 degrees 54'N, 11 degrees 53'E), Svalbard (Norway) during April and May 2005. An Atmospheric Mercury (Hg) Depletion Event (AMDE) was observed from the morning of April 24 until the evening of April 27. Transport of already Hg and ozone (O3) depleted air masses could explain this observed depletion. Due to a snowfall event during the AMDE, surface snow Hg concentrations increased two fold. Hg deposition took place over a short period of time corresponding to 3-4 days. More than 80% of the deposited Hg was estimated to be reemitted back to the atmosphere in the days following the event. During the campaign, we observed night and day variations in surface snow Hg concentrations, which may be the result of gaseous elemental mercury (GEM) oxidation to divalent Hg at the snow/air interface by daylight surface snow chemistry. Finally, a decrease in the reactive Hg (HgR) fraction of total Hg (HgT) in the surface snow was observed during spring. We postulate that the transformation of HgR to a more stable form may occur in Arctic snow during spring.     

Assessment of copper bioavailability and toxicity in vineyard runoff waters by DPASV and algal bioassay

The aim of this study was to assess the toxicity of runoff waters in an agricultural multipollution context through an in-depth assessment of copper bioavailability and toxicity. Runoff waters were screened for major ions, metals and diuron. The potential environmental impact of these runoff waters was evaluated using the conventional 72-h growth inhibition test with the green alga Pseudokirchneriella subcapitata. The results suggested that the toxicity detected in the calcareous vineyard field was due to the presence of diuron, whereas the non-calcareous runoff waters were non-toxic. Chemical speciation modelling by MINEQL revealed that most of the copper present in the non-toxic natural runoff waters was complexed by organic matter. These samples were spiked with copper, and then the toxicity and the electrochemically bioavailable copper fraction were measured. Differential pulse anodic stripping voltammetry (DPASV) was used to detect labile complexes and free copper. This combined approach highlighted the presence of some labile copper complexes in samples reaching the EC10-these could have contributed to the copper toxicity.