A new technique for robust control of servo systems

The robust controller has very simple structures and can be divided into two separate parts: a servo controller and an auxiliary controller. The two controllers are designed independently. The function of the auxiliary controller is to cancel out the plant uncertainties directly without the use of the high loop gain principle. Interpretation of robot controller as a signal-synthesis adaptive controller is given. Practical implementation issues of the auxiliary controller are discussed. Simulations of a design example with large parameter uncertainty, nonlinearity, and external disturbance are presented to demonstrate the effectiveness of the design technique. This technique is further tested with success in an experimental study of joint position control of a PUMA 560 robot arm     

Influence of stage of cycle, corpus luteum location, follicle size, and number of large follicles on estradiol-17 beta concentrations in bovine follicles

Concentrations of estradiol-17 beta in follicular fluid were correlated to follicular size, stage of estrous cycle, location of corpus luteum, and presence of large follicles. Paired ovaries were obtained from 481 nonpregnant cows at slaughter and follicles were classified as ipsilateral or contralateral to the corpus luteum. Follicular fluid estradiol-17 beta concentrations from 2494 small, 1485 medium, and 396 large follicles were quantified by radioimmunoassay. Stage of estrous cycle was estimated by visual examination of the corpus luteum. Follicles in stage 1 of the estrous cycle (d 1 to 4) had the highest estradiol-17 beta concentration and the smallest mean follicular diameter. Location of follicles relative to the corpus luteum had no influence on estradiol-17 beta concentrations. As follicular size increased, concentration of estradiol-17 beta also increased. The presence of a single large follicle did not affect the concentration of estradiol-17 beta in medium or small follicles. In contrast, if multiple large follicles occurred in the same cow, concentrations of estradiol-17 beta were significantly lower in medium but not small follicles.     

Mg-doped LiNi0.5Mn1.5O4 spinel for cathode materials

Lithium-ion batteries are becoming more and more important not only for portable electronic devices, but also in prevision of high power electric vehicles. In such an optic, deep studies regarding all the components of a secondary battery are in development. In this study, high voltage cathode materials have been selected. Crystals with spinel structure have a 3D vacancy pathway suitable for Li-ions transport. The material under study was LiNi_0.5Mn_1.5O₄ doped with magnesium replacing the nickel. Various samples were synthesized via three different routes: a solid-state method, a modified sol–gel method and a xerogel method. The structure and morphology of the powders were analyzed with HRTEM and XRD. Electrochemical tests were also performed. A wide range of particle sizes (from micro to nanosize) was the result of the different synthesis routes. Unfortunately pure materials were not always obtained. The electrochemical tests showed improvement of the material's cyclability, by reducing the particle size. The electrochemical tests further confirmed the existence of a Li_1+dMn_2−dO₄ impurity. The results are quite promising, however, further improvement of the purity of the electrode composition are needed.     

Fatigue crack propagation properties from small sized rod specimens

Mechanical properties characterization is needed in many industrial applications yet sufficient amount of material for fabricating standard-sized testing specimens is often not available. Techniques for testing miniaturized specimen must be adopted. Much effort has been made to develop techniques for impact, fracture toughness and tensile properties of sub-sized specimens. Work on the testing of fatigue properties is more limited. In this study, fatigue crack propagation behavior is evaluated from the growth of surface crack in a cylindrical rod under tension. Rods of various lengths and diameters were tested. As the size of the rod specimen is reduced, the fatigue crack growth rate tends to increase when correlated using the stress intensity factor range. This increase is explained largely by the decrease in the degree of premature crack closure in the small specimens. Valid fatigue crack growth data can be obtained among the specimens examined except on the crack growth on the surface of the smallest specimen, which has a length of 26 mm and diameter of 8 mm. Even so, valid data can still be elucidated on the latter specimen if the interior growth is considered. The dimensions of the latter specimen allow fatigue properties to be evaluated using broken remnants from impact or other test specimens.     

Measurements of frequencies and spatial correlations of coherent structures in rod bundle flows

Cross-wire anemometry was used to identify and characterize coherent flow pulsations in isothermal air flow near the gap regions of a five-rod bundle with a design pitch-to-diameter ratio of 1.149 and contained in a quasi-trapezoidal duct. It was confirmed that such pulsations are quasi-periodic and contribute significantly to the velocity fluctuations across the gap. The frequency of pulsations was found to decrease with diminishing rod–wall gap size in the range between 0.015D and 0.250D, where D is the rod diameter. The pulsations in a rod–wall gap and an adjacent rod–rod gap were strongly coupled and occurred at the same frequency as one rod was displaced towards the duct wall.     

Influences of land use/cover on water quality in the upper and middle reaches of River Njoro, Kenya

Data from 10 sampling sites along the River Njoro are used to examine the contribution of nutrients from upstream land uses draining each of the sampling sites. The data also are used to assess whether both the proportion of land uses and the size of the subwatersheds account for the variability in water quality in the River Njoro watershed. Geographical Information System analysis was used to determine the spatial distribution of land‐cover types and subwatersheds contributing run‐off to the sampling sites in the River Njoro. Standard Digital Elevation Model‐based routines were used to establish the watershed area contributing run‐off to each sampling site. Water and sediment samples were collected for chemical analysis, and the nutrient levels were related to the upstream land‐use types and the size of the subwatersheds. The mid‐stream portion of the River Njoro (near Egerton University) accounts for the highest nutrient contributions. The percentage contribution is magnified by additions from industrial, human settlements and agricultural land uses around the University. There is a significant decrease in nutrient levels downstream, however, indicating natural purification as the river flows through an area of large‐scale farming with intense, well‐preserved riparian and in‐stream vegetation. Steep slopes of the land upstream of Egerton University enhance erosion and nutrient losses from those subwatersheds. Mixed small‐scale agricultural and bare lands contribute over 55% of the phosphorus load to the upper and mid‐reaches of the River Njoro. The size of the subwatershed accounts for about 53% of the variability in the soluble phosphorus in the river. The land‐use subwatershed proportions are important for characterizing and modelling water quality in the River Njoro watershed. Upland land uses are as important as near‐stream land uses. We suggest that conservation of intact riparian corridor along the river and its tributaries contributes significantly to natural purification processes and recovery of the ecological integrity of the River Njoro ecosystem.     

An evaluation of the quantum efficiency of optical heterodyne detectors

Measurements are presented which verify the previous theoretical analysis of photomixers. A review of the theory is presented and theoretical predictions of the performance of a device are made. The measurements on the device are discussed and compared to the theory.     

A dynamic linear programming approach to market allocation of renewable resources in the italian energy system: The case of solar thermal and biogas technologies

In Italy solar thermal energy and energy from biogas are two possible means of reducing dependence on energy imports. Using a multiperiod LP model (MARKAL) the authors assessed the likely potential of both technologies under various circumstances. The study covered the period 1980–2005, in five segments of five years. It focused only on the subsystem of the energy end-uses which can be substituted for by solar thermal and biogas technologies. The overall non-renewable sources which can be saved in 20 years by these technologies total 450 PJ (1 PJ = 10^{1 5} J) if the fuel prices rise at 0 per cent average annual, 1450 PJ if the fuel prices rise at 4.2 per cent average annual, 1860 PJ if the fuel prices rise at 7.2 per cent average annual and 3780 PJ if the fuel prices rise at 15 per cent average annual. However the most competitive technologies appear to be solar water heaters used mainly in the private and commercial sectors and biogas systems used mainly in the agricultural sector. The study was carried out by APRE under ENEA (formerly CNEN) contract and was intended to serve as an analytical basis for establishing an overall development and demonstration strategy for end-use renewable technologies in Italy.     

Organochlorine Contaminants of Wintering Ducks Foraging on Detroit River Sediments

Organochlorine analysis was performed on carcasses of 13 diving ducks from a 1981 wintering population that foraged on contaminated sediments in the lower Detroit River. Mean total PCB concentrations were 10 mg/kg for seven lesser scaups (Aythya affinis), 11 mg/kg for three greater scaups (A. marila), and 7.6 mg/kg for three goldeneyes (Bucephala clangula). Highest mean levels of other residues were measured for hexachlorobenzene (1.7 mg/kg) in goldeneyes, and transnonachlor (0.33 mg/kg) and 4,4’-DDE (1.3 mg/kg) in greater scaup. Quantitative analysis of 72 PCB congeners also was applied to water, seston, sediment, benthie oligochaetes, and carp from the same site. Principal congeners in most of the samples included some of the more toxic and persistent PCBs. Results of a multivariate analysis indicated that ratios of more conservative to less conservative PCBs did not vary significantly among ducks (α = .05), but differed from those in carp, oligochaetes, and sediment. For the February through March period of fat mobilization, concentrations of total PCB in lipid were inversely correlated with percent lipid (r = 0.76) in ducks. The percentage of conservative PCBs increased slightly. The distribution and partitioning of organochlorines, including toxic PCB congeners, varied considerably within this water column-sediment-fauna ecosystem. Estimates of toxic exposure based on total PCB values may be unreliable.     

Integrated fluid handling system for biomolecular interaction analysis.

An integrated fluid handling system used for multichannel biomolecular interaction analysis is described. Reactions between biological molecules are monitored in real time by measuring changes in the angular position where surface plasmon resonance occurs at a biospecific active surface. The adsorption efficiency of the analyte onto the biospecific active surface is up to approximately 3%, due to the low channel height, 50 microns, in the flow cell. When a large part of the total biospecific active surface for surface plasmon resonance probing (approximately 0.15 mm2) is used, the sensitivity is high. Sample sizes in the order of 1-50 microL can be injected. The sample zone dispersion is minimized by the low dead volume in the system (approximately 0.4 microL) accomplished by using integrated sample loops and thin conduits. An asset of this integration is the low reagent consumption. The sensor chip with the biospecific active surface is reusable and easily exchanged. Experimental results obtained with a theophylline monoclonal antibody as the analyte are compared with a theoretical model. The standard deviation for the repeatability is approximately 5% typically with 50 microL of 250 pM analyte, and the assay time is 10 min. The detection limit is approximately 10 pg of the analyte on the probed spot of the surface. Possible improvements of the sensitivity and detection limit are discussed.