Loss of stability of guidance and control laws for autonomous vehicles

The problem of dynamic loss of stability of straight-line motion of a heading autopilot coupled with pursuit or proportional navigation guidance laws for an autonomous underwatervehicle is considered. The controller and navigator gain selections and the navigator lookahead distance serve as the main bifurcation parameters. Hopf-bifurcation-theory techniques are used in order to establish stability of the resulting periodic solutions after the initial loss of stability of straight-line motion. Numerical integrations support the analytical predictions. Compari- sons between different guidance schemes are made and guidelines for safer and more accurate vehicle operations are provided.     

The design of the SensVest

The SensVest is an item of wearable technology that measures, records and transmits aspects of human physical performance such as heart rate, temperature and movement. The SensVest has been designed for use by science teachers and students to meet their requirements. This paper reports the stages undertaken to design the SensVest, from determining appropriate methods of assessing human performance, to considerations of mounting the technology on the body. Trials have shown that concessions need to be made with ease of use and cost to ensure that the data collected is reliable and usable, with an awareness of the sensors limitations. By designing the SensVest with the wearer in mind a system has been developed that is comfortable, does not inhibit normal performance and is wearable. User trials have shown that meaningful, reliable and useful data can be collected using the SensVest.

Effect of Bi(III) concentration on the stripping voltammetric response of in situ bismuth-coated carbon paste and gold electrodes

The effect of Bi(III) concentration (over the wide concentration range of 10⁻⁷ to 10⁻⁴ M) on the determination of Pb and Cd metal ions (in the 10⁻⁸ to 10⁻⁵ M range), by means of anodic stripping voltammetry (ASV) at in situ bismuth-coated carbon paste (CPE) and gold electrodes, has been studied. It is shown that in square wave anodic stripping voltammetry (SWASV) experiments the sensitivity of the technique generally depends on the Bi(III)-to-metal ion concentration ratio. It was found that, unlike the usually recommended at least 10-fold Hg(II) excess in anodic stripping experiments at in situ prepared mercury film electrodes, Bi(III)-to-metal ion ratios less than 10 are either optimal or equally effective at CPE and Au electrode substrates. Detection limits down to 0.1 μg L⁻¹ for Pb(II) and 0.15 μg L⁻¹ for Cd(II) were estimated at CPEs under conditions of small or moderate Bi(III) excess. Depending on Bi(III) concentration and deposition time, multiple stripping peaks attributed to Bi were recorded (especially in the case of Au substrates), indicating various forms of Bi deposits.     

Removal of amino acids from water by adsorption on polystyrene resins

The adsorption of eight amino acids, L ‐asparagine, D,L ‐threonine, L ‐lysine, L ‐leucine D,L ‐methionine, L ‐tyrosine, L ‐phenylalanine and D,L ‐tryptophan, on the non‐polar macroporous adsorbents Amberlite XAD‐2 and XAD‐4 (polystyrene–divinylbenzene copolymers) was studied. Equilibrium adsorption experiments were conducted to estimate the types of isotherm and their parameters. The effect the chemical composition and structure of the amino acids on the efficiency of adsorption was evaluated. The influence of pH and ionic strength was also studied. The data of adsorption isotherms of the examined amino acids seemed generally to approach the Freundlich isotherm model. Tryptophan isotherm adsorption data could match in some cases the Langmuir model. The majority of the adsorption isotherms were almost linear. In terms of adsorbed amino acid on both resin surfaces, the amino acids can be ranked thus: D,L ‐tryptophan > L ‐phenylalanine > D,L ‐methionine, L ‐tyrosine > L ‐leucine > L ‐lysine > D,L ‐threonine > L ‐asparagine. In low pH solution, adsorption was generally higher than that at intermediate and high pH values. Generally, as the ionic strength increases, the adsorption of the amino acids increases. © 2001 Society of Chemical Industry     

Preparation and characterisation of platinum- and gold-coated copper, iron, cobalt and nickel deposits on glassy carbon substrates

Pt- and Au-coated Cu, Fe, Co and Ni deposits have been formed on glassy carbon (GC) substrates by electrodeposition of controlled amounts of the core metal onto the substrate and its subsequent partial replacement by Pt or Au upon immersion into a chloroplatinic or chlorolauric solution. This process resulted in a thin Pt or Au shell over the bimetallic particle as electrochemical evidence suggests, while indicative sputter-etch Auger Electron Spectroscopy points to the coexistence of the two metals in the particle core. SEM/EDS characterisation of the deposits revealed the existence of Pt(M) and Au(M) extensively agglomerated nanoparticles (M: Cu, Fe, Co, Ni). The surface electrochemistry of the deposits (hydrogen adsorption/desorption on Pt and oxide formation/stripping on Au) proved the complete coverage of the bimetallic particles by Pt or Au and allowed an estimate of their electroactive surface area. The study of hydrogen evolution at these deposits points to a modification of the electronic properties of the Pt and Au surface layers by the core metal (due to strain effects and/or ligand-electronic interactions) and further confirmed that these layers form a very thin outer shell.     

A 1 V CMOS programmable accurate charge pump with wide output voltage range

A 1 V, programmable, accurate, high speed, single-ended charge pump is proposed, suitable for low voltage PLLs. It is designed in TSMC 90-nm digital CMOS process and it consists of four switches in a current steering configuration, a unity gain rail to rail buffer for the charge sharing effect elimination, one more rail to rail amplifier for minimizing the DC current mismatch, a programmable current bias circuitry and two drivers based on the standard cell XOR gates specific configuration for achieving good synchronization between all charge pump input pulses at the PLL lock state. Replica biasing technique is applied to all charge pump switches. Current glitches and charge mismatch are suppressed by employing a mechanism with additional switches at the output. It exhibits a maximum DC current mismatch of 1% and charge mismatch of 6% over a wide output voltage range of 0.7 V for the entire range of output currents. The wide range of the output voltage remains relatively constant and independent of the selected charge pump current amplitude. This is attained by applying appropriate variation of the W/L ratios of the bias cascode current sources via the employment of additional programmable switches such that their saturation voltages remain relatively constant, something which in turn enables the output currents range to be as wide as it is required.     

Photoelectrocatalytic activity of bi-layer TiO<Subscript>2</Subscript>/WO<Subscript>3</Subscript> coatings for the degradation of 4-chlorophenol: effect of morphology and catalyst loading

WO₃ and bi-layer WO₃/TiO₂ coatings of different catalyst loadings were electrosynthesized on stainless steel 304 (SS) substrates from acidic aqueous solutions by single-step and consecutive steps potentiostatic cathodic deposition. The resulting WO₃/SS and TiO₂/WO₃/SS photoelectrodes were screened for their photoresponse under ultraviolet (UV) and visible light illumination by photovoltammetry and photoamperometry in sulphate solutions, in the absence and presence of 4-chlorophenol (4-CP). They were also evaluated for bulk photo-oxidation of 4-CP under constant potential, in the voltage range determined on the basis of the photovoltammetric tests. The optimal weight ratio between TiO₂ and WO₃ was also established, ensuring the best performance of these photoelectrodes for the photooxidation of 4-CP under UV and visible light irradiation.     

Collision avoidance in TV white spaces: a cross-layer design approach for cognitive radio networks

One of the most promising applications of cognitive radio networks (CRNs) is the efficient exploitation of TV white spaces (TVWSs) for enhancing the performance of wireless networks. In this paper, we propose a cross-layer design (CLD) of carrier sense multiple access with collision avoidance (CSMA/CA) mechanism at the medium access control (MAC) layer with spectrum sensing (SpSe) at the physical layer, for identifying the occupancy status of TV bands. The proposed CLD relies on a Markov chain model with a state pair containing both the SpSe and the CSMA/CA from which we derive the collision probability and the achievable throughput. Analytical and simulation results are obtained for different collision avoidance and SpSe implementation scenarios by varying the contention window, back off stage and probability of detection. The obtained results depict the achievable throughput under different collision avoidance and SpSe implementation scenarios indicating thereby the performance of collision avoidance in TVWSs-based CRNs.