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.     

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.     

Mechanical properties of epoxy networks based on DGEBA and aliphatic amines

The mechanical properties of epoxy networks based on diglycidyl ether of bisphenol A epoxy resin cured with various linear aliphatic amines, such as ethylenediamine, diethylenetriamine, triethylenetetramine, tetraethylenepentamine, and cyclic amines such as 1‐(2‐aminoethyl)piperazine and isophorone diamine, were studied. General characteristics such as T_g, density, and packing density, were determined and related to the structure and funcionality of the curing agent. Dynamic mechanical spectra were used to study both the α and β relaxations. Tensile and the flexural tests were used to determine the Young's and flexural modulus, and fracture strength all in the glassy state. Furthermore, linear elastic fracture mechanics was used to determine K_IC. As a rule, isophorone diamine network presented the higher tensile and flexure modulus while 1‐(2‐aminoethyl)piperazine gave the highest toughness properties. © 2007 Wiley Periodicals, Inc. J Appl Polym Sci 2007     

Eicosapentaenoic acid (20∶5n-3) from the marine microalgaPhaeodactylum tricornutum

Eicosapentaenoic acid (EPA, 20∶5n-3) was obtained from the marine microalgaePhaeodactylum tricornutum by a three-step process: fatty acid extraction by direct saponification of biomass, polyunsaturated fatty acid (PUFA) concentration by formation of urea inclusion compounds, and EPA isolation by semipreparative high-performance liquid chromatography (HPLC). Alternatively, EPA was obtained by a similar two-step process without the PUFA concentration step by the urea method. Direct saponification of biomass was carried out with two solvents that contained KOH for lipid saponification. An increase in yield was obtained because the problems associated with emulsion formation were avoided by separating the biomass from the soap solution before adding hexane for extraction of insaponifiables. The most efficient solvent, ethanol (96%) at 60°C for 1 h, extracted 98.3% of EPA. PUFA were concentrated by the urea method with a urea/fatty acid ratio of 4∶1 at a crystallization temperature of 28°C and by using methanol and ethanol as urea solvents. An EPA concentration ratio of 1.73 (55.2∶31.9) and a recover yield of 78.6% were obtained with methanol as the urea solvent. This PUFA concentrate was used to obtain 93.4% pure EPA by semipreparative HPLC with a reverse-phase, C₁₈, 10 mm i.d.×25-cm column and methanol/water (1% acetic acid), 80∶20 w/w, as the mobile phase. Eighty-five percent of EPA loaded was recovered, and 65.7% of EPA present inP. tricornutum biomass was recovered in highly pure form by this three-step downstream process. Alternatively, 93.6% pure EPA was isolated from the fatty acid extract (without the PUFA concentration step) with 100% EPA recovery yield. This two-step process increases the overall EPA yield to 98.3%, but it is only possible to obtain 20% as much EPA as that obtained by three-step downstream processing.     

Somein situ STM contributions to the characterization of electrochemical systems

We present a critical review on the use of STM as anin situ technique to characterize electrochemical systems based on the work performed in our laboratory. Contributions ofin situ STM studies include: (i) atomic resolution of electrodeposited lead on graphite; (ii) imaging of modifications on metallic electrode surfaces induced by electrochemical oxidation-reduction processes; (iii) imaging of corrosion process on aluminium and Al-Ta alloy electrodes in NaCl solution; (iv) characterization of semiconductor-solution interfaces. These studies allowed: (a) establishment of STM as a technique which, for some systems, yields atomic resolution of metallic surfaces in air and in solution; (b) establishment of a mechanism for the electrochemical growth of oxide films on metal electrodes; (c) establishment of a corresponding mechanism for the reduction of those electrochemically grown oxide films; (d) direct monitoring of corrosion processes on a scale of nm to m; and (e) determination of the presence of surface states and their energy position at the semiconductor-solution interfaces.This paper is dedicated to Professor Brian E. Conway on the occasion of his 65th birthday and in recognition of his outstanding contribution to electrochemistry.     

Preconditioning the solution of the time-dependent neutron diffusion equation by recycling Krylov subspaces

Spectral preconditioners are based on the fact that the convergence rate of the Krylov subspace methods is improved if the eigenvalues of the smallest magnitude of the system matrix are ‘removed’. In this paper, two preconditioning strategies are studied to solve a set of linear systems associated with the numerical integration of the time-dependent neutron diffusion equation. Both strategies can be implemented using the matrix–vector product as the main operation and succeed at reducing the total number of iterations needed to solve the set of systems.     

New thermosets obtained by cationic copolymerization of DGEBA with γ‐caprolactone with improvement in the shrinkage. II. Time–temperature–transformation (TTT) cure diagram

Mixtures of diglycidylether of bisphenol A (DGEBA) with different proportions of γ‐caprolactone (γ‐CL) were cured with ytterbium triflate as initiator. The curing was studied with differential scanning calorimetry (DSC) and thermo mechanical analysis (TMA). The results are presented in the form of a time–temperature–transformation diagram. The kinetic analysis was performed by means of the isoconversional integral procedure and the kinetic model was also determined using the Coats–Redfern method. Gelation was determined by means of combined experiences of DSC and TMA. The relationship between the glass transition temperature (T_g) and the degree of conversion α was determined by DSC. Using the isoconversional lines and the T_g‐α relationship, the vitrificacion curve was obtained. The methodology developed makes it possible to obtain the TTT diagram using only no‐isothermal experiments with equivalent results to those using classical isothermal procedures. The addition of γ‐CL accelerates the curing and reduces the shrinkage after gelation and consequently the internal stresses in the material. © 2007 Wiley Periodicals, Inc. J Appl Polym Sci, 2007     

Behaviour of a copper-AISI 304 stainless steel mixed anode in electrolytic copper refining with periodic current reversal

In the search for suitable materials to be used as anode supports in the periodic current reversal refining process this work covers the study of austenitic AISI 304 stainless steel. Experimental results show that the resistance of this steel to the aggressive action of the refining electrolyte is good at the working temperature of 60°C since no corrosion was detected after 24 h of electrolysis. The periodic polarization of this material results in a progressive passivation which was observed by operating under different initial surface conditions and by detecting remnant anodic currents which gradually decreased with time. For time ratios lower than twenty, a build up of metallic copper deposit on the steel part of the mixed anode occurred whatever the current density used.     

Influence of maize kernel hardness on flour hydration and cooking properties

Knowledge of the association between cooking properties and endosperm hardness may help nutritionist and processors to select raw materials for preparing maize based food products, particularly those eaten as cooked dispersions. Seven commercial maize cultivars differing in hardness were selected to evaluate endosperm hardness on the kernels and some characteristics such as composition and hydration and cooking properties on the grits obtained from those maizes. Results show that the differences in endosperm hardness (directly related to grits protein content) can explain the differences in swelling and amylographic consistencies values. Cultivars with the hardest endosperm show the lowest values at high temperature. They also show the lowest amylographic consistencies. On the other hand softer endosperms present the highest swelling power and the highest amylographic consistencies. These differences are attributed to the restriction for starch swelling caused by the protein matrix. Endosperm hardness measurements and swelling power at 95 degrees C, can be useful to select cultivars that are going to be used to prepare maize based foods like atoles, polenta, etc.     

Energy spectrum of an electron confined in the hexagon-shaped quantum well

Considering the hexagonal-shaped quantum-scale formations on the surface of thin semiconductor films, a methodology was developed to obtain the analytical solution of the Schrdinger equation when impenetrable walls of a quantum well are treated as mirrors. The results obtained allowed the calculation of the space probability distributions and the energy spectrum of the particle confined in a hex-agonal-shaped well.