Feedback linearization of differential-algebraic systems and force and position control of manipulators

The question of realization and feedback linearization of a class of differential-algebraic system is considered. Based on nonlinear inversion of an input-output map, an analytical expression for the constraint force vector satisfying the algebraic constraints is derived. In this derivation, certain requirements on the relative degree of the output variables are relaxed. Using a new representation of the system in an extended state space, a control law is derived for the independent control of the chosen output variables satisfying algebraic constraints. These results are applied for the position and force control of robotic manipulators. Simulation results are presented for a three-link robotic arm with revolute joints. It is shown that in the closed-loop system, precise position and force trajectory control is accomplished in spite of uncertainty in the robot parameters.     

Fertilization stimulates an increase in inositol trisphosphate and inositol lipid levels in Xenopus eggs

Previous experiments from our lab have suggested that the hydrolysis of phosphatidylinositol 4,5-bisphosphate (PIP2) is required for sperm-induced egg activation in Xenopus laevis. Here we measure the endogenous production of both Ins(1,4,5)P3 and PIP2 during the sperm-induced and ionomycin-induced calcium wave in the egg and find that both increase following fertilization. Ins(1,4,5)P3 increases 3.2-fold from an unfertilized egg level of 0.13 pmole per egg (0.29 microM) to a peak of 0.42 pmole per egg (0.93 microM) as the calcium wave reaches the antipode in the fertilized egg. This continuous production of Ins(1,4,5)P3 during the time that the Ca2+ wave is propagating across the egg suggests the involvement of Ins(1,4,5)P3 in wave propagation. This increase in Ins(1,4,5)P3 is smaller in ionomycin-activated eggs than in sperm-activated eggs, suggesting that the sperm-induced production of Ins(1,4,5)P3 involves a PIP2 hydrolysis pathway that is not simply raising intracellular Ca2+. While one might expect PIP2 levels to fall as a result of hydrolysis, we find that PIP2 actually increases 2-fold. The total lipid fraction in unfertilized egg exhibits 0.8 pmole PIP2 per egg and this increases to 1.5 pmole as the calcium wave reaches the antipode. The PIP2 concentration peaks 2 min after the completion of the calcium wave at 1.8 pmole per egg. The amount of PIP2 in the animal and vegetal hemispheres of the egg was also measured by cutting frozen eggs in half. The vegetal hemisphere contained twice the amount of PIP2 as the animal hemisphere but it also contained twice the amount of lipid. Thus, there was an equivalent amount of PIP2 normalized to lipid in each hemisphere. Isolated animal and vegetal hemisphere cortices exhibit similar PIP2 concentrations, suggesting that the 2-fold higher total PIP2 in the vegetal half is not due to a gradient of PIP2 in the plasma membrane, but rather implies that cytoplasmic organelle membranes also contain PIP2.     

An Architecture of Scalable ATM Switching System and Its Call Processing Capacity Estimation

In this paper, we define the general requirements of ATM switching systems such as scalability, distributed fashion, and modularity. Also we propose a practical implementation of a scalable ATM switching system whose capacity can be easily expanded. Firstly, the architecture of the system is discussed with an emphasis on system scalability, modularity of subsystems and the simple control network of the design requirements. Secondly, we suggest the three types of distributed call/connection control schemes that are suitable for our switching system. We also estimate their call processing capacity on the average and make a comparison of them under the various system architectures. Since our scalable switching system can be constructed to perform the call processing functions on the various levels of the system capacity, it has much adaptability at the various evolution phases or regions of the network environment.     

Downlink Capacity Analysis of Collaborative Crossed Timeslots in CDMA TDD Systems

Traffic asymmetry between uplink and downlink is expected to be a remarkable 3G characteristic in cellular mobile multimedia communications. CDMA system with TDD is a good solution to this traffic asymmetry. However, the level of traffic asymmetry may be significantly different from a cell to another cell. To tackle this problem and to support the traffic hot spot, crossed slots are examined. The use of crossed slots is restricted within a certain range of a cell by investigating the inter-cell interference and the maximum planned load factor. We examine the radius of inner zone and discuss the capacity of downlink crossed slots for various neighbor cell environments. Computational results show that the capacity increase in the target cell is outstanding by reducing the service range of neighbor cells. When all six neighbors reduce their service range by 20%, the capacity at target cell crossed slot is increased by 35%. Monte Carlo simulation is performed with large scale fading to verify the numerical analysis.

Preparation, Characterization, and Photocatalytic Properties of CaNb2O6 Nanoparticles

CaNb₂O₆ nanoparticles with a size range of 30–50 nm were synthesized by heat treatment at 600°C after a solvothermal process and their optical and photocatalytic properties were investigated. The prepared powders were characterized by X-ray powder diffractometer, field-emission scanning electron microscope, transmission electron microscope, UV-Vis diffuse reflectance spectroscopy, Fluorescence spectroscopy, and Raman spectroscopy. Compared with a powder of the same material prepared by a solid-state reaction (SS) method, the nanoparticles exhibited a higher Brunauer–Emmett–Teller (BET) surface area, more efficient light absorption, and enhanced photocatalytic activity for producing H₂ from pure water under UV irradiation. The photoluminescence spectra revealed that a radiative recombination process is dominant in the powder prepared by the SS method (strong blue emission at 300 K) under UV light irradiation, while no obvious emission was observed in the nanoparticles. This decrease of the radiative recombination as well as the higher optical absorption ability and higher BET surface area resulting from the reduced dimensionality led to enhanced photocatalytic activity of the nanoparticles.     

Hydroxyapatite crystallization from a highly concentrated phosphate solution using powdered converter slag as a seed material

A system for recovering phosphorus from membrane-filtrate from a sludge reduction process containing high phosphorus concentrations was developed. In this system, referred to as the completely mixed phosphorus crystallization reactor, powdered converter slag was used as a seed material. In a preliminary experiment, the optimal pH range for metastable crystallization of phosphorus from membrane-filtrate containing about 100mg/L PO(4)-P was found to be 6.6-7.0. The laboratory scale completely mixed phosphorus crystallization reactor, actually operated in pH range of 6.8-7.6 for influent 72.9 mg/L PO(4)-P, achieved an average efficiency of phosphorus removal from the membrane-filtrate of 52.4% during a 30-day experiment. Mixed-liquor suspended solids (MLSS) measurements revealed that, out of 0.24 kg PO(4)-P in the original membrane-filtrate fed into the reactor, 0.12 kg PO(4)-P was recovered on the seed particles after 30 days. X-ray diffraction (XRD) pattern and Fourier transform infrared (FT-IR) spectra of the crystalline material deposited on the seed particles showed peaks consistent with hydroxyapatite. Scanning electron micrograph (SEM) images exhibited that finely distributed crystalline material was formed on the surfaces of seed particles. Energy dispersive X-ray spectroscopy (EDS) mapping analysis revealed that the molar composition ratio of Ca/P of the crystalline material was 1.84. The Ca/P molar ratio>1.67 for crystalline substance might result from the presence of CaCO(3) on the crystalline surfaces. A particle size distribution analysis showed that the average particle size increased from 22 microm for the original converter slag seed particles, to 94 microm after 30 days of phosphorus crystallization. Collectively, the present results suggest that the proposed phosphorus crystallization recovery system is an effective tool for recycling phosphorus from phosphate solution.     

Effect of hardness on acute toxicity of metal mixtures using Daphnia magna: prediction of acid mine drainage toxicity

In this study, the effect of hardness on the combined outcome of metal mixtures was investigated using Daphnia magna. The toxic unit (TU) was calculated using modified LC(50) values based on the hardness (i.e., LC(50-soft) and LC(50-hard)). From a bioassay test, the degree of sensitivity to hardness on the toxicity changes was in the order: Cd相似文献