Chattering-Free Sliding Mode Altitude Control for a Quad-Rotor Aircraft: Real-Time Application

Nowadays, the chattering problem in sliding mode control is one of the most important points to consider in real-time applications. To address this problem, a real-time robust altitude control scheme is proposed for the efficient performance of a Quad-rotor aircraft system using a continuous sliding mode control. The sensing of altitude measurement sensing is performed by a pressure sensor in order to obtain a robust altitude control of the vehicle in hovering mode both indoor and outdoor. The altitude measurement has the advantage of introducing this state information directly in the closed loop control which should be very useful for achieving robust stabilization of the altitude control. Accordingly, we propose a sliding mode control strategy without chattering. The sliding mode control proposed removes the chattering phenomenon by replacing a sign function with a high-slope saturation function. The control algorithm is derived from the Lyapunov stability theorem. Moreover, we have assumed that the actuators are able to respond quickly and accurately and we have not enforced limits on the control signals for a real-time application. Finally, to verify the satisfactory performance of proposed nonlinear control law, several simulations and experimental results of the Chattering-free sliding mode control for the Quad-rotor aircraft in the presence of bounded disturbances are presented.     

Parameter Identification in Photothermal Imaging

We propose a technique to reconstruct the geometry of inclusions and their material parameters in thermal scattering near surfaces. The imaging problem is reformulated as a constrained optimization problem with a finite number of stationary constraints. The unknown domains and their parameters are the design variables. A descent method combining topological derivative analysis to find improved guesses of the objects and gradient iterations to correct their material parameters provides reasonable reconstructions.     

Chemoattraction between fry of Arctic char [Salvelinus alpinus (L.)] studied in a Y-maze fluviarium

Attraction of fry of Arctic char [Salvelinus alpinus (L.)] to water conditioned by conspecifics of the same age was studied in a Y-maze fluviarium. Two types of experiments were run. In up-swimming tests (1), starting from the common leg of the Y-maze, a single fish was given the choice of entering one of the two upstream arms. In gradient tests (2), the momentary positions of a single char were time-lapse photographed in a test yard of this common shank. Strong attraction to conditioned water was observed in both types of tests.     

The effectiveness of the combined use of VIX and Support Vector Machines on the prediction of S&P 500

The aim of this research is to analyse the effectiveness of the Chicago Board Options Exchange Market Volatility Index (VIX) when used with Support Vector Machines (SVMs) in order to forecast the weekly change in the S&P 500 index. The data provided cover the period between 3 January 2000 and 30 December 2011. A trading simulation is implemented so that statistical efficiency is complemented by measures of economic performance. The inputs retained are traditional technical trading rules commonly used in the analysis of equity markets such as Relative Strength Index, Moving Average Convergence Divergence, VIX and the daily return of the S&P 500. The SVM identifies the best situations in which to buy or sell in the market. The two outputs of the SVM are the movement of the market and the degree of set membership. The obtained results show that SVM using VIX produce better results than the Buy and Hold strategy or SVM without VIX. The influence of VIX in the trading system is particularly significant when bearish periods appear. Moreover, the SVM allows the reduction in the Maximum Drawdown and the annualised standard deviation.     

Secure logarithmic audio watermarking scheme based on the human auditory system

This paper proposes a high capacity audio watermarking algorithm in the logarithm domain based on the absolute threshold of hearing of the human auditory system (HAS), which makes this scheme a novel technique. When considering the fact that the human ear requires more precise samples at low amplitudes (soft sounds), the use of the logarithm helps us design a logarithmic quantization algorithm. The key idea is to divide the selected frequency band into short frames and quantize the samples based on the HAS. Using frames and the HAS improves the robustness, since embedding a secret bit into a set of samples is more reliable than embedding it into a single sample. In addition, the quantization level is adjusted according to the HAS. Apart from remarkable capacity, transparency and robustness, this scheme provides three parameters (frequency band, scale factor and frame size) which facilitate the regulation of the watermarking properties. The experimental results show that the method has a high capacity (800–7,000 bits per second), without significant perceptual distortion (ODG >1) and provides robustness against common audio signal processing such as added noise, filtering and MPEG compression (MP3).     

Occurrence of wax esters in the tissues of the organge roughy (Hoplostethus atlanticus)

The skin, skeleton and a fat-filled swim bladder of the orange roughy (Hoplostethus atlanticus) each contained greater than 20% lipid by wet weight which was almost entirely wax esters. These had carbon numbers of 34–40 consistent with the major fatty acid being 18∶1 and the major fatty alcohols being 16∶0, 18∶1, 20∶1 and 22∶1. In contrast, the liver and the roe contained appreciable quantities of glycerolipids with 18∶1 and 22∶6 as the major fatty acids.     

Silphinene Sesquiterpenes as Model Insect Antifeedants

Silphinene sesquiterpenes are established chrysomelid antifeedants. In this work, nine silphinene analogs, 11-acetoxy-5-angeloyloxysilphinen-3-one (1), 11-acetoxy-5-tigloyloxysilphinen-3-one (2), 11-acetoxy-5-iso- butyryloxysilphinen-3-one (3), 11-hydroxy-5-angeloyloxysilphinen-3-one (4), 11,5-dihydroxysilphinen-3-one (5), 11,5-diacetoxysilphinen-3-one (6), 5,11-diisobutyryloxysilphinen-3-one (7), silphinen-3,5,11-trione (8), and O-methyl-5-epicantabrenolic acid methyl ester (10), and a presilphiperfolane sesquiterpene (9) were tested against several divergent insect species, including the lepidopteran Spodoptera littoralis, the chrysomelid Leptinotarsa decemlineata, and five aphid species, and their antifeedant effects were compared with those of picrotoxinin, a GABA-antagonist, and thymol, an allosteric modulator for insect GABA receptors. All insects tested responded to at least one silphinene analog and/or GABA antagonist. Compound 3 and thymol were effective antifeedants against all species tested except S. littoralis, with varying potencies according to their feeding ecologies. The toxicity of these compounds was species-dependent and did not correlate with their antifeedant effect.     

Phase diagrams for oil/methanol/ether mixtures

One-phase transmethylations of vegetable oils with methanol to form methyl esters occur considerably faster than conventional two-phase reactions. Addition of simple ethers is an efficient method for producing a single phase. Ternary phase diagrams have been determined at 23°C for oil/methanol/ether mixtures; these are useful when applying the one-phase method across a wide range of conditions. Soybean, canola, palm, and coconut oils were used in combination with five ethers, namely, tetrahydrofuran (THF), 1,4-dioxane (DO), diethyl ether (DE), diisopropyl ether (DI), andtert-butyl methyl ether (TBM). All five ethers can produce miscibility for all methanol/oil compositions. The ether/methanol volumetric ratios required for miscibility at a methanol/soybean or canola oil volumetric ratio of 0.20 (5.4 molar ratio) at 23°C are: THF, 1.15; DO, 1.60; DE, 1.38 DI, 1.57; and TBM, 1.57. For THF, this results in one-phase mixtures that contain 65 vol% oil. Soybean and canola oil form identical diagrams. Palm oil requires slightly less ether at the lower methanol concentrations, but coconut oil requires considerably less across the whole concentration range. Acid-catalyzed reactions, when performed at the boiling point of the most volatile component, require less ether than predicted from the diagrams.     

Preparation of NiAl2O4/SiO2 and Co2+-Doped NiAl2O4/SiO2 Nanocomposites by the Sol–Gel Route

NiAl₂O₄/SiO₂ and Co²⁺-doped NiAl₂O₄/SiO₂ nanocomposite materials of compositions 5% NiO – 6% Al₂O₃– 89% SiO₂ and 0.2% CoO – 4.8% NiO – 6% Al₂O₃– 89% SiO₂, respectively, were prepared by a sol–gel process. NiAl₂O₄ and cobalt-doped NiAl₂O₄ nanocrystals were grown in a SiO₂ amorphous matrix at around 1073 K by heating the dried gels from 333 to 1173 K at the rate of 1 K/min. The formations of NiAl₂O₄ and cobalt-doped NiAl₂O₄ nanocrystals in SiO₂ amorphous matrix were confirmed through X-ray powder diffraction, Fourier transform infrared spectroscopy, differential scanning calorimeter, transmission electron microscopy (TEM), and optical absorption spectroscopy techniques. The TEM images revealed the uniform distribution of NiAl₂O₄ and cobalt-doped NiAl₂O₄ nanocrystals in the amorphous SiO₂ matrix and the size was found to be ∼5–8 nm.     

Biomimetic strain hardening in interpenetrating polymer network hydrogels

In this paper, we present the systematic development of mechanically enhanced interpenetrating polymer network (IPN) hydrogels with Young's moduli rivaling those of natural load-bearing tissues. The IPNs were formed by synthesis of a crosslinked poly(acrylic acid) (PAA) network within an end-linked poly(ethylene glycol) (PEG) macromonomer network. The strain-hardening behavior of these PEG/PAA IPNs was studied through uniaxial tensile testing and swelling measurements. The interaction between the independently crosslinked networks within the IPN was varied by (1) changing the molecular weight of the PEG macromonomer, (2) controlling the degree of PAA ionization by changing pH, and (3) increasing the polymer content in the PAA network. Young's moduli and the maximum stress-at-break of the swollen hydrogels were normalized on the basis of their polymer content. Strain hardening in the IPNs exhibited a strong dependence on the molecular weight of the first network macromonomer, the pH of the swelling buffer, as well as the polymer content of the second network. The results indicate that the mechanical enhancement of these IPNs is mediated by the strain-induced intensity of physical entanglements between the two networks. The strain can be applied either by mechanical deformation or by changing the pH to modulate the swelling of the PAA network. At pHs below the pK_a of PAA (4.7), entanglements between PEG and PAA are reinforced by interpolymer hydrogen bonds, yielding IPNs with high fracture strength. At pHs above 4.7, a “pre-stressed” IPN with dramatically enhanced modulus is formed due to ionization-induced swelling of the PAA network within a static PEG network. The modulus enhancement ranged from two-fold to over 10-fold depending on the synthesis conditions used. Variation of the network parameters and swelling conditions enabled “tuning” of the hydrogels' physical properties, yielding materials with water content between 58% and 90% water, tensile strength between 2.0 MPa and 12.0 MPa, and initial Young's modulus between 1.0 MPa and 19.0 MPa. Under physiologic pH and salt concentration, these materials attain “biomimetic” values for initial Young's modulus in addition to high tensile strength and water content. As such, they are promising new candidates for artificial replacement of natural tissues such as the cornea, cartilage, and other load-bearing structures.