A minimum-time control strategy for torque tracking in permanent magnet AC motor drives

A minimum-time torque control strategy for permanent-magnet AC motor drives is presented. The proposed technique neither requires the solution of a HJB-type equation, which would be practically unfeasible, nor uses Pontryagin's maximum principle. Instead, the solution is obtained by an ad hoc procedure based on the computation of reachability and controllability sets. In principle, the optimal control strategy can be carried out by iteratively solving a fourth-degree polynomial equation. For its efficient implementation, an algorithm based on Sturm sequences is suggested. The sequence of online operations required by the algorithm for a given tolerance on the optimal time is illustrated. The method has been tested on a laboratory prototype. Experimental results show the effectiveness of the technique.     

First data from the EGLE experiment onboard the ISS

EGLE is a wide frequency band search- coil magnetometer designed and built at the Roma Tre University. It has been installed onboard the ISS by the Italian astronaut Roberto Vittori on April 25, 2005 within the LAZIO- EGLE experiment carried out during the ENEIDE Soyuz mission. The scope of the experiment is to test EGLE in space and to investigate geomagnetic field variations. The main applications of EGLE are the study of electromagnetic environment inside the ISS, the correlation of magnetic field data with particle fluxes detected by LAZIO particle detector, and the monitoring of ionospheric perturbations possibly caused by Earth seismic activity. Since continuous electromagnetic field measurements on board the ISS are important for diverse space applications, a magnetometer with a suitable design is requested. Appropriate solutions for these applications, which have been adopted by EGLE, are in particular the use of 1- Wire technology and the possibility to detect by means of a search- coil magnetometer a large portion of the ULF frequency band, usually measured by flux- gate probes. To investigate the topside ionosphere electromagnetic environment and stability of Van Allen radiation belts in relation with seismic and anthropogenic electromagnetic emissions, a specific satellite mission (the ESPERIA project) has been designed for the Italian Space Agency (ASI), and up to now a few instruments of its payload have been built and tested in space. One of them is exactly the EGLE search- coil magnetometer. The first magnetic observations performed by this instrument reveal to be promising and demand for a further and deeper analysis based on a longer time series of data.     

M‐matrices and global convergence of discontinuous neural networks

The paper considers a general class of neural networks possessing discontinuous neuron activations and neuron interconnection matrices belonging to the class of M‐matrices or H‐matrices. A number of results are established on global exponential convergence of the state and output solutions towards a unique equilibrium point. Moreover, by exploiting the presence of sliding modes, conditions are given under which convergence in finite time is guaranteed. In all cases, the exponential convergence rate, or the finite convergence time, can be quantitatively estimated on the basis of the parameters defining the neural network. As a by‐product, it is proved that the considered neural networks, although they are described by a system of differential equations with discontinuous right‐hand side, enjoy the property of uniqueness of the solution starting at a given initial condition. The results are proved by a generalized Lyapunov‐like approach and by using tools from the theory of differential equations with discontinuous right‐hand side. At the core of the approach is a basic lemma, which holds under the assumption of M‐matrices or H‐matrices, and enables to study the limiting behaviour of a suitably defined distance between any pair of solutions to the neural network. Copyright © 2006 John Wiley & Sons, Ltd.     

Long-term mapping and localization using feature stability histograms

This work proposes a system for long-term mapping and localization based on the Feature Stability Histogram (FSH) model which is an innovative feature management approach able to cope with changing environments. FSH is built using a voting schema, where re-observed features are promoted; otherwise the feature progressively decreases its corresponding FSH value. FSH is inspired by the human memory model. This model introduces concepts of Short-Term Memory (STM), which retains information long enough to use it, and Long-Term Memory (LTM), which retains information for longer periods of time. If the entries in STM are continuously rehearsed, they become part of LTM. However, this work proposes a change in the pipeline of this model, allowing any feature to be part of STM or LTM depending on the feature strength. FSH stores the stability values of local features, stable features are only used for localization and mapping. Experimental validation of the FSH model was conducted using the FastSLAM framework and a long-term dataset collected during a period of one year at different environmental conditions. The experiments carried out include qualitative and quantitative results such as: filtering out dynamic objects, increasing map accuracy, scalability, and reducing the data association effort in long-term runs.     

Synthesis and characterization of aniline copolymers containing carboxylic groups and their application as sensitizer and hole conductor in solar cells

Copolymers of m-aminobenzoic acid and o-anisidine doped with p-toluenesulphonic acid in different proportions were successfully synthesized by oxidative polymerization. The copolymers were characterized by FT-IR, UV–vis, ¹H NMR and EPR spectroscopies, cyclic voltammetry, conductivity and SEM. The copolymer with equivalent amounts of the monomers o-anisidine and m-aminobenzoic acid presented the highest conductivity, The EPR analyses and SEM images show that this copolymer provides more homogeneous films with particle size distribution of approximately 1–2 μm. The copolymer with a high fraction of o-anisidine gives rises to films with larger particle sizes and a more defined electrochemical process. The m-aminobenzoic acid monomer was intentionally chosen in order to promote a better electronic coupling between the conducting copolymer and the TiO₂ surface. The copolymers were tested as both sensitizers and hole conducting materials in dye-sensitized solar cells. The device assembled using the copolymer with the highest proportion of m-aminobenzoic acid units as sensitizer produced the highest photocurrent (I_sc = 0.254 mA cm^?2) and photovoltage (V_oc = 0.252 V) at 100 mW cm^?2. The energy diagram shows that although the electronic injection from the conducting polymer excited state is an allowed process the regeneration of the positive charges created after the electron transfer process is forbidden, thus explaining the low efficiency of solar energy conversion. When this copolymer was applied as a hole conducting material, an improvement in the V_oc to 0.4 V, was observed, indicating that this material is more suitable for charge transport when applied in this type of solar cells.     

Influence of mediator immobilization on the electrochemically assisted microbial dechlorination of trichloroethene (TCE) and cis‐dichloroethene (cis‐DCE)

BACKGROUND: A bioelectrochemical process for trichloroethene (TCE) dechlorination was developed. In this new process, a solid‐state electrode polarized to ?450 mV versus the standard hydrogen electrode (SHE), in combination with a redox mediator (i.e., methyl viologen, MV) is employed as an electron donor for the microbial reductive dechlorination of TCE. In this study we compared the performance of the process with the redox mediator immobilized at the surface of electrodes or dissolved in the bulk liquid, using both a culture highly enriched in Desulfitobacterium spp., capable of dechlorinating TCE to cis‐dichloroethene (cis‐DCE), and a culture highly enriched in Dehalococcoides spp. capable of dechlorinating cis‐DCE to ethene. RESULTS: Short‐term potentiostatic (?450 mV versus SHE) experiments showed that TCE or cis‐DCE was dechlorinated both in the presence of soluble (500 µmol L^?1) and immobilized MV. However, TCE or cis‐DCE dechlorination rates with MV‐modified electrodes were remarkably lower than with soluble MV. Both cultures produced significant amounts of H₂ in the presence of electrically reduced, soluble MV, whereas no H₂ was produced when the mediator was immobilized at the electrode surface, regardless of the potential applied to the electrode, in the range ?425 to ?500 mV versus SHE. CONCLUSIONS: The process, operated with modified electrodes, supports the microbial dechlorination of TCE to ethene. Immobilization not only allows retention of the mediator within the system, but also increases process efficiency by preventing bioelectrochemical H₂ formation. On the other hand, strategies to increase dechlorination rates with modified electrodes need to be developed. Copyright © 2009 Society of Chemical Industry     

Tight complexity bounds for the two-dimensional real knapsack problem

We study the complexity of the 2-dimensional knapsack problem , where . The problem is defined in terms of real numbers and we study it where an integral solution is sought under a real number model of computation. We obtain a tight complexity bound , where . Received: November 1998 / Accepted: December 1998     

Use of native species and biodegradable chelating agents in the phytoremediation of abandoned mining areas

BACKGROUND: The application of phytostabilization and assisted phytoextraction to the remediation of abandoned mining areas can be a valuable method to reclaim these areas without modifying soil and landscape characteristics. An in situ application of a continuous phytoextraction technique was carried out in the area of Campo Pisano (Sardinia, Italy), followed by a laboratory assisted phytoextraction test using the biodegradable chelating agents methylglycine diacetic acid (MGDA) and iminodissuccinic acid (IDSA). The plants used were Scrophularia canina subsp. bicolor, Cistus salviifolius and Teucrium flavum subsp. glaucum. RESULTS: The plant that accumulated more Pb was T. glaucum (353 mg kg^?1) while C. salviifolius demonstrated better ability to accumulate Zn (1560 mg kg^?1). S. bicolor showed a better tolerance to metals but accumulated 119 mg kg^?1 of Pb. Accumulation of metals immediately after chelant application was up to 300 mg kg^?1 of Pb and 3000 mg kg^?1 of Zn which did not further increase during the assisted phytoextraction experiment. CONCLUSION: The plant that demonstrated to be most suitable for phytoremediation application was S. bicolor due to its higher biomass production and tolerance to metals. The low cation exchange capacity and the high concentration of Ca and Mg in soil determined a low chelant effectiveness. Copyright © 2009 Society of Chemical Industry