An intrinsic observer for a class of Lagrangian systems

We propose a new design method of asymptotic observers for a class of nonlinear mechanical systems: Lagrangian systems with configuration (position) measurements. Our main contribution is to introduce a state (position and velocity) observer that is invariant under any changes of the configuration coordinates. The observer dynamics equations, as the Euler-Lagrange equations, are intrinsic. The design method uses the Riemannian structure defined by the kinetic energy on the configuration manifold. The local convergence is proved by showing that the Jacobian of the observer dynamics is negative definite (contraction) for a particular metric defined on the state-space, a metric derived from the kinetic energy and the observer gains. From a practical point of view, such intrinsic observers can be approximated, when the estimated configuration is close to the true one, by an explicit set of differential equations involving the Riemannian curvature tensor. These equations can be automatically generated via symbolic differentiations of the metric and potential up to order two. Numerical simulations for the ball and beam system, an example where the scalar curvature is always negative, show the effectiveness of such approximation when the measured positions are noisy or include high frequency neglected dynamics.     

Three-dimensional structure of the cloud of a carbon pellet evaporated in plasma of Wendelstein 7-AS stellarator

Experiments performed on a Wendelstein 7-AS stellarator revealed asymmetry of the cloud of an ablating carbon pellet. The cloud is elongated in the direction of large radius toward stronger fields, that is, opposite to the direction expected due to the toroidal drift. In order to study the effect in more detail, the three-dimensional structure of the cloud was analyzed by computer tomography. The results confirmed asymmetry of the cloud. This asymmetry is related to a drift flow existing in the plasma and directed along large radius toward stronger fields. The drift velocity is numerically estimated at ～300 m/s.     

Determination of shear strength values according to EN 408

This paper presents the results of 382 shear tests carried out according to EN 408. The test pieces consisted of spruce (Picea abies) and varied in density and ring width orientation (radial, tangential and at an angle of 45° to the steel plates). In addition pieces containing pith and knots were tested. The paper discusses problems observed when using this test configuration and shows that the test results do not support the characteristic shear strength values as given in EN 338. Moreover, the test results do not support the relationship between characteristic shear strength and characteristic bending strength as given in EN 384.

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Résumé Cet article présente les résultats de 382 essais de cisaillement menés conformément à EN 408. Les éprouvettes d’essai sont en épicéa (Picea abies) et présentent une variabilité en termes de masse volumique et d’orientation des cernes d’accroissement (radiale, tangentielle, à un angle de 45° par rapport aux plaques métalliques). Des éprouvettes supplémentaires contenant du cœur et des nœuds ont également été testées. L’article évoque les problèmes qui ont été mis en évidence lors de l’utilisation de ce dispositif expérimental et montre que les résultats expérimentaux ne sont pas en accord avec les valeurs caractéristiques de résistance au cisaillement données dans EN 338. De plus, ces résultats ne confirment pas la relation entre résistance caractéristique au cisaillement et résistance caractéristique à la flexion telle que stipulée dans EN 384.

     

Micromechanism of corrosion fracture of the plates of heat exchangers

We have studied the micromechanism of corrosion fracture of heat-transfer plates of a heat exchanger. The operation of heat exchangers under conditions of contamination of the plates with a sediment from water leads to their local corrosion under the sediment. The conditions of operation of the heat exchangers being equal, heat-transfer plates made of AiSi316Ti steel worked 2.36 times as long as those of AiSi304L steel. The corrosion fracture of plates under the sediment began from pitting initiation near nonmetallic inclusions of a certain nature. Afterwards, these pittings built up into corrosion spots by the mechanism of stress corrosion and hydrogen embrittlement. __________ Translated from Fizyko-Khimichna Mekhanika Materialiv, Vol. 43, No. 1, pp. 110–116, January–February, 2007.     

Uranium(III) in aqueous solutions: Preparation,properties, synthesis of solid compounds

Published data on the preparation procedures, stability, and complexation of U(III) in aqueous solutions are summarized and correlated. Reactions with inorganic and organic free radicals studied by the flash radiolysis method, the spectroscopic properties, the extraction and ion-exchange behavior of U(III), and methods for isolation of solid U(III) compounds from aqueous solutions are discussed.     

Beyond Boundary Objects: Collaborative Reuse in Aircraft Technical Support

Boundary objects are a critical, but understudied, theoretical construct in CSCW. Through a field study of aircraft technical support, we examined the role of boundary objects in the practical achievement of safety by service engineers. Their resolution of repair requests was preserved in the organization’s memory via three compound boundary objects. These crystallizations did not manifest a static interpretation, but instead were continually reinterpreted in light of meta-negotiations. This suggests design implications for organizational memory systems which can more fluidly represent the meta-negotiations surrounding boundary objects.     

[110]-surface strained-SOI CMOS devices

We have newly developed [110]-surface strained-silicon-on-insulator (SOI) n- and p-MOSFETs on [110]-surface relaxed-SiGe-on-insulator substrates with the Ge content of 25%, fabricated by applying the Ge condensation technique to SiGe layers grown on [110]-surface SOI wafers. We have demonstrated that the electron and the hole mobility enhancement of [110]-surface strained-SOI devices amounts to 23% and 50%, respectively, against the mobilities of [110]-surface unstrained MOSFETs. As a result, the electron and the hole mobility ratios of [110]-surface strained-SOI MOSFETs to the universal mobility of (100)-surface bulk-MOSFETs increase up to 81% and 203%, respectively. Therefore, the current drive imbalance between n- and p-MOS can be reduced. Moreover, both the electron and the hole mobilities of the [110]-surface strained-SOIs strongly depend on the drain current flow direction, which is qualitatively explained by the anisotropic effective mass characteristics of the carriers on a [110]-surface Si. As a result, the [110]-surface strained-SOI technology with optimization of the current flow directions of n- and p-MOS is promising for realizing higher speed scaled CMOS.     

Effect of Nontraditional Additives on the Processes of Silicate and Glass Formation

The results of studying the effect of nontraditional additives, namely, metallic aluminum and zinc powders on the process of silicate and glass formation using polythermal and thermogravimetric analysis, are described. The specifics of the glass-melting process for decorative glasses using the nontraditional additives are considered. __________ Translated from Steklo i Keramika, No. 5, pp. 7 – 10, May, 2005.     

Thermostatting the Instrument for Registering Heat-Treated Product Parameters at Elevated Temperatures

Two variants of thermostats for measuring instruments are developed and tested. The temperature from 5 to 50°C required for normal operation of the instrument is maintained during the entire time the thermostat stays inside the drier, i.e., 43 h.