Discrete time sliding mode control of robotic manipulators: Development and experimental validation

This paper presents a robust discrete-time sliding mode control coupled with an uncertainty estimator designed for planar robotic manipulators. Experimental evidence shows satisfactory trajectory tracking performances and noticeable robustness in the presence of model inaccuracies, disturbances and payload perturbations. Ultimate boundedness of the tracking errors is proved, as well as boundedness of the estimation error with arbitrary precision.     

The effect of ionising radiation on photosynthetic oxygenic microorganisms for survival in space flight revealed by automatic photosystem II-based biosensors

Photosynthetic microorganisms are expected to be useful to maintain an oxygenic atmosphere and to provide biomass for astronauts in the International Space Station as well as in future long-term space flights. However, fluxes of complex ionizing radiation of various intensities and energies make space an extreme environment for the microorganisms, affecting their photosynthetic efficiency. To automatically monitor the photosynthetic Photosystem II (PSII) activity of microorganisms under space conditions an optical biosensor, which utilizes chlorophyll fluorescence as biological transduction system, was built; the PSII activity was monitored by the biosensor during balloon flights at stratospheric altitudes of about 40 km. The effect of space stress on quantum yield of PSII varied among the tested species depending on the growth light conditions at which they were exposed during the flights.     

Rheological studies with spherically shaped thin liquid films

The present work shows the first experimental and theoretical results for investigations on the rheology of liquid films. The experiments are planned to be performed under microgravity conditions. This environment will allow forming films of different thickness, which is impossible under ground conditions due to drainage. Then the films are forced to harmonic oscillations of the film area so that the film elasticity can be measured as a function of frequency. The presented theoretical model demonstrates the main relationships to be solved under corresponding boundary conditions     

A current‐mode 1kHz/10kHz low‐voltage integrated analogue PLL for lock‐in portable applications

We present a low‐supply voltage (2V) low‐power consumption (500W) analogue phase‐locked loop (PLL), working at two low frequencies (1 and 10kHz), to be used in an integrated lock‐in amplifier. An externally settable control bit allows the switching operation between the two different frequencies. The circuit has been designed in a standard 0.6–m CMOS technology and differs from the standard analogue PLL architectures for the current mode implementation of both the loop filter and of the oscillator. Three different locked waveforms (sinusoidal, triangular, squared) can be obtained at the PLL output. Simulation results, obtained through the use of PSPICE and using accurate transistor models, will be proposed. The pull‐in ranges are about ±250Hz around 1 and ±1.3kHz around 10kHz, with pull‐in times of about 10 and 4ms, respectively. Copyright © 2003 John Wiley & Sons, Ltd.     

Approximate similarity retrieval with M-trees

Motivated by the urgent need to improve the efficiency of similarity queries, approximate similarity retrieval is investigated in the environment of a metric tree index called the M-tree. Three different approximation techniques are proposed, which show how to forsake query precision for improved performance. Measures are defined that can quantify the improvements in performance efficiency and the quality of approximations. The proposed approximation techniques are then tested on various synthetic and real-life files. The evidence obtained from the experiments confirms our hypothesis that a high-quality approximated similarity search can be performed at a much lower cost than that needed to obtain the exact results. The proposed approximation techniques are scalable and appear to be independent of the metric used. Extensions of these techniques to the environments of other similarity search indexes are also discussed. Received July 7, 1998 / Accepted October 13, 1998     

Scaling of energy dissipation in crushing and fragmentation: a fractal and statistical analysis based on particle size distribution

An extensive experimental investigation on concrete specimens under crushing and fragmentation over a large scale range (1:10) – exploring even very small specimen dimensions (1 cm) – was carried out to evaluate the influence of fragment size distribution on energy density dissipation and related size effect. To obtain a statistically significant fragment production as well as the total energy dissipated in a given specimen, the experimental procedure was unusually carried out up to a strain of approximately –95%, practically corresponding to the initial fragment compaction between the loading platens. The experimental fragment analysis suggests a fractal law for the distribution in particle size; this simply means that fragments derived from a given specimen appear geometrically self-similar at each observation scale. In addition, clear size effects on dissipated energy density are experimentally observed. Fractal concepts permit to quantify the correlation between fragment size distribution and size effect on dissipated energy density, the latter being governed by the total surface area of produced fragments. The experimental results agree with the proposed multi-scale interpretation satisfactorily.     

Design and Hydraulics of a Combined Storm Overflow Structure

Storm overflow structures in combined sewers are used to separate sewage from storm water. For subcritical approach flow, sideweirs are currently used; however, they often behave hydraulically poor. This study was conducted to explore a combined storm overflow structure able to improve the hydraulic performance of sewer sideweirs. Such a structure consists of a low-crested sideweir and a bottom opening just downstream from the sideweir end. First, the hydraulic design procedure is described, and then, based on laboratory experiments and by using the governing flow equations, the main hydraulic features are highlighted. The results indicate that the proposed device has advantageous characteristics in terms of hydraulic efficiency, reliability, and maintenance.     

Proteins as biomarkers of oxidative/nitrosative stress in diseases: the contribution of redox proteomics

Reactive oxygen species (ROS) and reactive nitrogen species (RNS) contribute to the pathogenesis and/or progression of several human diseases. Proteins are important molecular signposts of oxidative/nitrosative damage. However, it is generally unresolved whether the presence of oxidatively/nitrosatively modified proteins has a causal role or simply reflects secondary epiphenomena. Only direct identification and characterization of the modified protein(s) in a given pathophysiological condition can decipher the potential roles played by ROS/RNS-induced protein modifications. During the last few years, mass spectrometry (MS)-based technologies have contributed in a significant way to foster a better understanding of disease processes. The study of oxidative/nitrosative modifications, investigated by redox proteomics, is contributing to establish a relationship between pathological hallmarks of disease and protein structural and functional abnormalities. MS-based technologies promise a contribution in a new era of molecular medicine, especially in the discovery of diagnostic biomarkers of oxidative/nitrosative stress, enabling early detection of diseases. Indeed, identification and characterization of oxidatively/nitrosatively modified proteins in human diseases has just begun.     

A distributed simplex algorithm for degenerate linear programs and multi-agent assignments

In this paper we propose a novel distributed algorithm to solve degenerate linear programs on asynchronous peer-to-peer networks with distributed information structures. We propose a distributed version of the well-known simplex algorithm for general degenerate linear programs. A network of agents, running our algorithm, will agree on a common optimal solution, even if the optimal solution is not unique, or will determine infeasibility or unboundedness of the problem. We establish how the multi-agent assignment problem can be efficiently solved by means of our distributed simplex algorithm. We provide simulations supporting the conjecture that the completion time scales linearly with the diameter of the communication graph.     

Chiral Discrimination Mechanisms by Silylated-Acetylated Cyclodextrins: Superficial Interactions vs. Inclusion

Cyclodextrin derivatives constitute a powerful class of auxiliary agents for the discrimination of apolar chiral substrates. Both host–guest inclusion phenomena and interactions with the derivatizing groups located on the surface of the macrocycle could drive the enantiodiscrimination; thus, it is important to understand the role that these processes play in the rational design of new chiral selectors. The purpose of this study is to compare via nuclear magnetic resonance (NMR) spectroscopy the efficiency of silylated-acetylated α-, β-, and γ-cyclodextrins in the chiral discrimination of 1,1,1,3,3-pentafluoro-2-(fluoromethoxy)-3-methoxypropane (compound B) and methyl 2-chloropropionate (MCP). NMR DOSY (Diffusion Ordered SpectroscopY) experiments were conducted for the determination of the bound molar fractions and the association constants, whereas ROESY (Rotating-frame Overhauser Enhancement SpectroscopY) measurements provided information on the hosts’ conformation and on the interaction phenomena with the guests. Compound B, endowed with fluorinated moieties, is not deeply included due to attractive Si-F interactions occurring at the external surface of the cyclodextrins. Therefore, a low selectivity toward the size of cyclodextrin cavity is found. By contrast, enantiodiscrimination of MCP relies on the optimal fitting between the size of the guest and that of the cyclodextrin cavity.