Hierarchical inversion‐based output tracking control for uncertain autonomous underwater vehicles using extended Kalman filter

In this study, a hierarchical inversion‐based output tracking controller (HIOTC) is developed for an autonomous underwater vehicle (AUV) subject to random uncertainties (e.g., current disturbances, unmodeled dynamics, and parameter variations) and noises (e.g., process and measurement noises). The proposed HIOTC respectively utilizes a combination of feedforward and feedback controls in a hierarchical structure based on the kinematic and dynamic models of the system. Moreover, to obtain uncontaminated or unavailable states for implementing the proposed control law, the extended Kalman filter (EKF) is employed to estimate the system states. Then, the position outputs, orientation, and velocity of the AUV are reached with guaranteed asymptotic stability. The robustness of the proposed HIOTC is verified through injection of random uncertainties into the system model. The closed‐loop stability of the proposed individual subsystems is respectively guaranteed to have uniformly ultimately bounded (UUB) performance based on the Lyapunov stability criteria. In addition, the asymptotic tracking of the overall system is demonstrated using Barbalat's lemma. Finally, the feasibility and effectiveness of the proposed control scheme are evaluated through computer simulations and it is shown that the overall system achieves good asymptotic tracking performance.     

Performance‐based near‐optimal vibration control for nonlinear offshore platforms with delayed input

This paper investigates the vibration control problem for offshore platform, where the nonlinear characteristics, delayed input and external wave force are considered in time domain. By introducing a delay‐free reconstructional vector and applying the maximum principle, the original vibration problem for offshore platform is formulated as a nonlinear two‐point‐boundary‐value (TPBV) problem with delayed items. The major contribution of this paper is that a performance‐based near‐optimal vibration control strategy is proposed by solving this nonlinear TPBV problem, which includes a feedback item with offshore platform system state, a feedforward item with wave force state, and a compensator for nonlinear and delayed items with infinite supersensitive component. In particular, the designed compensator is calculated from two group series of linear differential equations by introducing a parameter for expending the Maclaurin series of nonlinear and delay items. Meanwhile, an iterative algorithm is designed to make the proposed vibration control scheme computable based on the control performance in each iterative procedure. Finally, experimental results show that the displacement, velocity and performance index of an employed offshore platform achieved small values under the proposed control strategy and designed algorithm.     

Pilot proteomic analysis of cerebrospinal fluid in Alzheimer's disease

Proteomic analysis of cerebrospinal fluid (CSF) holds great promise in understanding the progression of neurodegenerative diseases, including Alzheimer's disease (AD). As one of the primary reservoirs of neuronal biomolecules, CSF provides a window into the biochemical and cellular aspects of the neurological environment. CSF can be drawn from living participants allowing the potential alignment of clinical changes with these biochemical markers. Using cutting-edge mass spectrometry technologies, we perform a streamlined proteomic analysis of CSF. We quantify greater than 700 proteins across 10 pairs of age- and sex-matched participants in approximately one hour of analysis time each. Using the paired participant study structure, we identify a small group of biologically relevant proteins that show substantial changes in abundance between cognitive normal and AD participants, which were then analyzed at the peptide level using parallel reaction monitoring experiments. Our findings suggest the utility of fractionating a single sample and using matching to increase proteomic depth in cerebrospinal fluid, as well as the potential power of an expanded study.     

Tod des Körpers oder Tod der Person?

Definition of the problem

Within the current philosophical debate on the adequate definition of human death, death is defined either as the death of the body or the death of the person. However, the application of these notions leads to several practical conflicts, which can be seen first and foremost in the brain-death debate and the discussions on how to increase organ donation.

Arguments

The conflicts are based in both a dualistic and objectivistic notion of the human being which are implied in both definitions of death. In order to solve these conflicts, we are in need of a nondualistic concept of human being which at the same time enables us to elaborate a first- and second-person perspective on death. On the basis of Helmuth Plessner’s philosophical anthropology, such an integrative concept of death can be developed.

Conclusion

Following this concept, it seems reasonable to abandon the brain-death criterion as the criterion for human death and to fundamentally reform the current information campaigns for organ donation.

     

Invertebrate response to impacts of water diversion and flow regulation in high‐altitude tropical streams

Water supply systems are critical infrastructure that provides food and energy security for developed societies. The operation of reservoirs (flow regulation) and water intakes (water diversion) has known negative impacts on aquatic ecosystems; however, quantification of ecological impacts and examination of these two types of flow alteration remain a developing area of research. We investigated the individual and combined impact of flow regulation and water diversion on stream ecosystem integrity, the freshwater macroinvertebrate community, and the population structure of flow‐sensitive insects. For 2 years, we monitored quarterly discharge, physical and chemical stream conditions, and benthic invertebrates of four high‐altitude tropical streams that are part of the water supply system of Quito, Ecuador. Flow regulation caused a loss of the hydrological seasonality of these streams, including a decrease in stream depth and biotic quality. Water diversion caused a decrease in dissolved oxygen and overall ecosystem integrity. Freshwater invertebrate density and richness decreased as a result of water diversion and flow regulation. The combined flow alteration in these streams decreased the density of nymphal stages of the widely distributed mayfly Andesiops peruvianus. Given the societal needs for food and energy security, water management for diversion (e.g., irrigation) and in‐line storage practices (e.g., hydroelectric dams) are anticipated to increase. This research suggests that the negative environmental impacts of flow alteration could be mitigated with discharge releases designed to approximate the natural hydrologic regime of undisturbed streams.     

Sediment flux from Lesser Zab River in Dokan Reservoir: Implications for the sustainability of long‐term water resources in Iraq

Prudent management of Iraqi water resources under climate change conditions requires plans to be based on actual figures of the storage capacity of existing reservoirs. With the absence of sediment flushing measures, the actual storage capacity of Dokan Reservoir (operated since 1959) has been affected by the amount of sediment delivered during its operational life leading to an undetermined reduction in its storage capacity. In consequence, there has not been an update on the dam's operational storage capacity curves. In this research, new operational curves were established for the reservoir based on a recent bathymetric survey undertaken in 2014. The reduction in reservoir capacity during the period between 1959 and 2014 was calculated by the mean of the difference between the designed storage capacity and the storage capacity which was concluded from the 2014 bathymetric survey. Moreover, the rate of sediment transported to the reservoir was calculated based on the overall quantities of accumulated sediment and the water discharge of the Lesser Zab River into the reservoir. The results indicate that the dam capacity is reduced by 25% due to sedimentation of an estimated volume of 367 million cubic metres at water level 480 m.a.s.l. The annual sedimentation rate was about 6.6 million cubic metres, and the sediment yield was estimated to be 701.2 t?km^?3?year.     

Temperature and processing effects on lithium ion conductivity of solution-deposited lithium zirconium phosphate (LiZr2P3O12) thin films

Lithium zirconium phosphate (LiZr₂P₃O₁₂) thin films have been prepared on platinized silicon substrates via a chemical solution deposition approach with processing temperatures between 700°C and 775°C. Films that were subject to a single high-temperature anneal were found to crystallize at temperatures above 725°C. Crystallization was observed in films annealed after each deposited layer at 700°C and above. In both cases, grain size was found to increase with annealing temperature. Ion conductivity was found to increase with annealing temperature in singly annealed films. In per-layer annealed films ion conductivity was found to initially increase then decrease with increasing annealing temperature. A maximum ion conductivity of 1.6 × 10⁻⁶ S/cm was observed for the singly annealed 775°C condition, while a maximum ion conductivity of 5.8 × 10⁻⁷ S/cm was observed for the 725°C per-layer annealed condition. These results are consistent with an increasing influence of cross-plane, internal interface resistance and vapor phase carrier loss in the per-layer annealed samples. This work demonstrates that post-deposition processing methods can strongly affect the ion conducting properties of LiZr₂P₃O₁₂ thin films.     

Hot isostatic pressed pyrochlore glass-ceramics: Revealing structure insides at the reaction interface

As potential waste forms for immobilizing actinide-rich radioactive wastes, Eu₂Ti₂O₇ (Eu as a surrogate for minor actinides) pyrochlore glass-ceramics were fabricated via hot isostatic pressing (HIPing) at 1200°C. The structure and microstructure at the reaction interface between the glass-ceramic waste form and the stainless steel (SS) canister under HIPing conditions were carefully investigated with scanning electron microscopy (SEM), transmission electron microscopy (TEM), and synchrotron single crystal X-ray diffraction (SC-XRD). The interactions at the reaction interface led to the formations of a ~10-µm-thick Cr₂O₃ layer as the oxidation front of the SS and a layer of a mixed oxide phase (Eu_1.25SiCr_0.8Ti_1.2O_7.5) on the glass-ceramic side of the reaction interface. The crystal structure of such a unique mixed oxide phase was revealed indubitably with a combination of synchrotron SC-XRD and TEM assisted with a focused ion beam (FIB) SEM system. The improved structural understanding of the reaction interface will help to support the utilization of HIPing as a versatile hot consolidation process for the treatment of radioactive wastes.     

Air impingement and intermittent drying: Application to apple and to mango

An original drying process combining air impingement and intermittent drying was studied on apple slices and mango cubes. The influence of four operating parameters (air velocity, drying/tempering periods, upper height, and air temperature) on the drying time and on the drying rate was evaluated. Continuous and intermittent drying were compared. The intermittency α = 1/7 (τ_on = 10 seconds and τ_off = 60 seconds) gave the best results. A time savings of 54% for apple and 67% for mango was reached. In continuous drying, a time savings of 4620 seconds was observed by increasing the air velocity from 6 to 40 m s^?1 for apple. Air temperatures of 328 K for apple and of 328 K or 338 K for mango were determined as optimum to prevent case‐hardening. Experimental results were fitted with the analytical solution of Fick's second law and the modified Page equation (average values R² = 0.985 and 0.961, for apple and mango, respectively). For both products, the apparent moisture diffusivity D_app, the drying constant k, the drying coefficient n, and the activation energy E_a, were identified. Activation energies calculated from the analytical solution were 30.3 and 36.8 kJ mol^?1 and were 25.4 and 30.0 kJ mol^?1 using the modified Page equation for apple and mango, respectively. Mango has an increased temperature sensitivity and thus will need less energy for drying than apple.