Motion Control of a Two-Wheeled Mobile Vehicle with an Inverted Pendulum

Nested saturation control design techniques are usually applied to derive a control law for a two-wheeled vehicle with an inverted pendulum. In presence of external disturbances, this control law may result in a catastrophic problem of finite escape time in the controlled system. This paper proposes control solutions to overcome the above problem. First, a disturbance observer is designed to estimate the external disturbances exponentially. Several coordinate transformations and partial-feedback linearization techniques are then derived to transform the vehicle’s dynamics into an upper-triangular form. Next, nested p-times differentiable saturation and backstepping techniques are combined to design a control law for the transformed system. Attractive features of our proposed control design include a large domain of attraction and simplicity of tuning control gains and the controller implementation. Numerical simulations illustrate the results.     

Sensing and gait planning of quadruped walking and climbing robot for traversing in complex environment

In this paper, a general study on improving adaptability of quadruped walking and climbing robot in complex environment is presented. First, a sensing system composed of range and gyroscope sensors in a novel arrangement is developed. By combining the sensing signals and the internal state of the robot, the surface geometry of the environment is sufficiently reconstructed in real-time. Secondly, a planning algorithm for the robot to overcome the reconstructed environment is conducted. Based on the reshaped surface, the planning algorithm not only provides the exact body trajectory and foot positions but also the adaptability of the robot in a specific environment. A method to improve the adaptability of the walking and climbing robot is also introduced. Thanks to the adherent ability of the robot, the center of gravity of the robot is allowed to move outside the support polygon to increase the reach-ability of the next swing leg. Finally, the effectiveness of the proposed approach is verified by the performances of the experiments in complex environments using a quadruped walking and climbing robot named MRWALLSPECT IV.     

Multi-Camera Human Activity Monitoring

With the proliferation of security cameras, the approach taken to monitoring and placement of these cameras is critical. This paper presents original work in the area of multiple camera human activity monitoring. First, a system is presented that tracks pedestrians across a scene of interest and recognizes a set of human activities. Next, a framework is developed for the placement of multiple cameras to observe a scene. This framework was originally used in a limited X, Y, pan formulation but is extended to include height (Z) and tilt. Finally, an active dual-camera system for task recognition at multiple resolutions is developed and tested. All of these systems are tested under real-world conditions, and are shown to produce usable results. This work has been supported by the NSF through grants #IIS-0219863, #CNS-0224363, #CNS-0324864, #IIP-0443945, #CNS-0420836, #IIP-0726109, and #CNS-0708344.     

Load Bearing Capacity of Reinforced Concrete Beams Subjected to Dynamic Cyclic Loads

A kinematic method is developed to determine the shakedown limits of elastic-perfectly plastic steel-reinforced concrete beams under quasi-static and dynamic cyclic loads. This procedure, like the respective kinematic approach of plastic limit analysis, is visual and easy to use in engineering applications. The load parameters (amplitudes, frequency) versus yield moment diagrams, constructed from possible collapse modes, should assist in choosing the reinforcement scheme and amounts of reinforcement to meet the load bearing requirements for the structures.     

Novel Furin Inhibitors with Potent Anti‐infectious Activity

New peptidomimetic furin inhibitors with unnatural amino acid residues in the P3 position were synthesized. The most potent compound 4‐guanidinomethyl‐phenylacteyl‐Arg‐Tle‐Arg‐4‐amidinobenzylamide (MI‐1148) inhibits furin with a K_i value of 5.5 pM . The derivatives also strongly inhibit PC1/3, whereas PC2 is less affected. Selected inhibitors were tested in cell culture for antibacterial and antiviral activity against infectious agents known to be dependent on furin activity. A significant protective effect against anthrax and diphtheria toxin was observed in the presence of the furin inhibitors. Furthermore, the spread of the highly pathogenic H5N1 and H7N1 avian influenza viruses and propagation of canine distemper virus was strongly inhibited. Inhibitor MI‐1148 was crystallized in complex with human furin. Its N‐terminal guanidinomethyl group in the para position of the P5 phenyl ring occupies the same position as that found previously for a structurally related inhibitor containing this substitution in the meta position, thereby maintaining all of the important P5 interactions. Our results confirm that the inhibition of furin is a promising strategy for a short‐term treatment of acute infectious diseases.     

Mechanisms underlying the effects of membrane fouling on the nanofiltration of trace organic contaminants

The influence of membrane fouling on the retention of four trace organic contaminants - namely sulfamethoxazole, ibuprofen, carbamazepine, and triclosan - by nanofiltration membranes was investigated in this study. Humic acid, alginate, bovine serum albumin, and silica colloids were selected as model foulants to simulate various organic fractions and colloidal matter that are found in secondary treated effluent and surface water. The effects of membrane fouling on the separation process was delineated by comparing retention values of clean and fouled membranes and relate them to the membrane properties (under both clean and fouled conditions) as well as physicochemical characteristics of the trace organic contaminants. Membrane fouling was dependent on the physicochemical properties of the model foulants. Initial foulant-membrane interaction could probably be a major factor governing the process of membrane fouling particularly by the organic foulants. Such membrane-foulant interaction was also a dominating factor governing the effects of membrane fouling on the membrane separation efficacy. In good agreement with our previous study (Nghiem and Hawkes, 2007 [1]), the effects of fouling on retention were found to be membrane pore size dependent. In addition, results reported here suggest that these effects could also be foulant dependent. It was probable that the influence of membrane fouling on trace organic retention could be governed by four distinctive mechanisms: modification of the membrane charge surface, pore blocking, cake enhanced concentration polarisation, and modification of the membrane hydrophobicity. The presence of the fouling layer could affect the retention behavior of charged solutes by altering the membrane surface charge density. While the effect of surface charge modification was clear for inorganic salts, it was less obvious for the negatively charged pharmaceutical species (sulfamethoxazole and ibuprofen) examined in this investigation, possibly due to the interference of the pore blocking mechanism. Evidence of the cake enhanced concentration polarisation effect was quite clear, particularly under colloidal fouling conditions. In addition, organic fouling could also interfere with the solute-membrane interaction, and therefore, exerted considerable influence on the separation process of the hydrophobic trace organic contaminant triclosan.     

Comparison of particle-phase polycyclic aromatic hydrocarbons and their variability causes in the ambient air in Ho Chi Minh City, Vietnam and in Osaka, Japan, during 2005-2006

A comparative study of polycyclic aromatic hydrocarbons (PAHs) associated with particulate matter (TSP) in the ambient air in an urban area in Ho Chi Minh City, Vietnam and in Osaka, Japan was carried out from 2005 to 2006. The objective of this study was to investigate the environmental levels, emission sources, seasonal variations and health risk of eleven PAHs in the two cities, especially Ho Chi Minh City where air pollution is becoming a serious concern. The results showed that the concentrations of TSP and total PAHs were significantly higher in Ho Chi Minh City than levels in Osaka. The concentrations of 5- and 6-ring PAHs (BeP, BbF, BkF, BaP, BghiP and InP) were much higher in TSP samples in Ho Chi Minh City than in Osaka, accounting for 82% and 51% of total PAHs, respectively. These PAHs are known to be highly carcinogenic and mutagenic in humans. Vehicular emission is suggested as one of the main pollution sources of PAHs in both cities. Motorcycles and gasoline automobiles are suggested as the main emission sources of PAHs in Ho Chi Minh City, whereas diesel automobiles are the primary source in Osaka. Seasonal variations of PAHs were observed in this study; higher concentrations of PAHs were found in the rainy season (May-December) and lower concentrations corresponded to the dry season (February-April) in Ho Chi Minh City, while higher concentrations of PAHs were observed in the winter (November-January) in Osaka. The number of sunshine hours was an important meteorological factor affecting seasonal variations of PAHs in Ho Chi Minh City, while the temperature was a main factor causing the variations of PAHs in Osaka. The high BaP equivalent concentration of 5- and 6-ring PAHs even in the ambient air is an alarming signal for harmfulness to human health and environmental quality in Ho Chi Minh City.     

Influence of some vegetable oils on the photocrosslinking of coatings based on an o-cresol novolac epoxy resin and a bis-cycloaliphatic diepoxide

The influence of cashew nut shell oil (CNO), epoxidized soybean oil (ESO), castor oil (CO), and dioctyl phtalate (DOP) on the photocrosslinking kinetics of UV curable mixtures containing an o-cresol novolac epoxy resin (CNE), a bis-cycloaliphatic diepoxide monomer (BCDE), and a triarylsulfonium salt (TAS) as a cationic photoinitiator has been studied. The formulation with a weight ratio CNE/BCDE/TAS of 60/40/5 was found to have the highest cure rate and the greatest final conversion of epoxy groups upon UV exposure. The presence of an unsaturated oil or of DOP in the UV curable formulation, at a content ranging from 0.07 to 0.79 mol/kg, was shown to increase the initial polymerization rate of the epoxy groups from 12 up to 31 mol/kg s, and the epoxy conversion after 18 s UV exposure from 80 up to 95%. It was found that the UV cured coatings containing CNO or DOP at concentrations between 0.3 and 0.6 mol/kg and ESO at concentrations between 0.12 and 0.19 mol/kg exhibit the best performance. These results were explained by a number of competitive factors, mainly the effects of the chemical structure and content of the oils and of DOP on the polarity, viscosity, compatibility, and internal filter effect of the UV curable resins, as well as by the characteristics of the tridimensional polymer networks formed upon UV exposure. The materials produced under the optimal conditions determined in this study can be used as high performance decorative and protective coatings and also as adhesives in different sectors of applications.     

天然裂缝性储层的特征

天然裂缝性储层给开采带来了一个矛盾难题。这类储层包括低油气采收率储层,这些储层最初可能表现出高产,但产能下降得非常快。此外,这类储层还经常出现早期见气或见水等问题。而另一方面,一些天然裂缝性储层也是全球最大、产量最高的储层。这类储层的这种矛盾特性激发业界尽力去深入了解其特征,以便更有把握地对其进行模拟分析。