A tool to analyze robust stability for model predictive controllers

A strategy based on Nonlinear Programming (NLP) sensitivity is developed to establish stability bounds on the plant/model mismatch for a class of optimization-based Model Predictive Control (MPC) algorithms. By extending well-known nominal stability properties for these controllers, we derive a sufficient condition for robust stability of these controllers. This condition can also be used to assess the extent of model mismatch that can be tolerated to guarantee robust stability. In this derivation we deal with MPC controllers with final time constraints or infinite time horizons. Also for this initial study we concentrate only on discrete time systems and unconstrained state feedback control laws with all of the states measured. To illustrate this approach we give two examples: a linear first-order dynamic system and a nonlinear SISO system involving a first order reaction. ©     

Influence of the cementitious paste composition on the E-modulus and heat of hydration evolutions

E-modulus and heat of hydration are features of cement-based materials that follow a rapid rate of change at early ages. This paper analyses the influence of the composition of cementitious pastes on these features by using two methods: (i) a novel technique for continuously monitoring the E-modulus of cement-based materials, based on evaluating the first resonant frequency of a composite beam containing the material under testing, and (ii) an isothermal calorimeter to determine the released heat of hydration. Seventeen mixes are tested, encompassing pastes with five w/c ratios, as well as different contents of limestone filler, fly ash, silica fume and metakaolin. The results permit the comparison of the E-modulus and heat of hydration sensitivities to mix composition changes, and to check possible relations between these features. This work also helps to establish the technique (i) as a non-destructive method for monitoring the E-modulus evolution in cement-based materials since casting.     

Antibiotic resistance and tolerance to simulated gastrointestinal conditions of eight hemolytic Bacillus pumilus isolated from pulque,a traditional Mexican beverage

Food Science and Biotechnology - Traditional fermented sap beverages from two provinces of Mexico were studied for the isolation of pathogenic bacteria from these beverages. Eight strains of...     

Radiation resistivity in silica optical fibers

Hydrogen treatment of optical fiber waveguides with pure silica cores and boron, fluorine codoped silica claddings was found to effectively reduce the y-ray induced loss increases in visible wavelength region. Germanium-doped core fibers free from metal impurities had good resistance against y-rays. The induced losses were shown to be dependent on the dose rate, a similar behavior to that of pure silica core fibers. Metal impurities such as phosphorus or alkalis added to germanium doped silica core were found to change the glass structure significantly, producing the precursors of a defect center related to the y-ray-induced loss and increasing sensitivity to y-irradiation     

Multi-robot olfactory search in structured environments

This paper presents a cooperative distributed approach for searching odor sources in unknown structured environments with multiple mobile robots. While searching and exploring the environment, the robots independently generate on-line local topological maps and by sharing them with each other they construct a global map. The proposed method is a decentralized frontier based algorithm enhanced by a cost/utility evaluation function that considers the odor concentration and airflow at each frontier. Therefore, frontiers with higher probability of containing an odor source will be searched and explored first. The method also improves path planning of the robots for the exploration process by presenting a priority policy. Since there is no global positioning system and each robot has its own coordinate reference system for its localization, this paper uses topological graph matching techniques for map merging. The proposed method was tested in both simulation and real world environments with different number of robots and different scenarios. The search time, exploration time, complexity of the environment and number of double-visited map nodes were investigated in the tests. The experimental results validate the functionality of the method in different configurations.     

Nanobiosensors based on individual olfactory receptors

The animal olfactory system represents the gold standard of biosensors, due to its ability to identify and discriminate thousands of odorant compounds with very low thresholds. Using olfactory receptors (ORs) as sensing elements instead of chemical sensors, biosensors would benefit the naturally optimized molecular recognition of odorants to develop a new generation of bioelectronic noses. The purpose of SPOT-NOSED European project was the development of nanobiosensors based on single ORs anchored between nanoelectrodes, to mimic the performances of natural olfactory system. Nanobiosensors arrays could then increase odorant sensitivity or widen the odorant detection spectrum. ORs were expressed in yeasts plasmic membrane, and their functionality tested in whole yeasts. Then, nanosomes bearing the ORs were prepared from S. cerevisiae, and Surface Plasmon Resonance was performed on nanosomes for quantitative evaluation of OR response to odorant stimulation. ORs retain full activity and discrimination power in immobilized nanosomes, thus allowing their use in the fabrication of the nanobiosensors. Nanoelectrodes were fabricated using conventional photolithography and focused ion beam milling, with sizes in adequation with the nanosomes. ORs borne by nanosomes were specifically immobilized onto conducting substrates via mixed Self Assembled Monolayers, neutravidin and specific antibody to the ORs. The process was optimized by microcontact printing, and the anchored nanovesicles visualized by Atomic Force Microscopy. A transimpedance preamplifier suited for low-noise wide-bandwidth measurements was designed to be directly connected to the nanoelectrodes. Electrochemical Impedancemetric Spectroscopy detected significant changes upon electrodes functionalization, grafting of ORs carried by nanosomes, and ORs conformational change induced by odorant binding.