Adsorption on activated carbon in countercurrent flow: An experimental study

The work describes adsorption experiments from aqueous solutions on activated carbon using a counter-current adsorber. Phenol and paranitrophenol were used for single component adsorption and molasses colour for multicomponent adsorption experiments. Isotherms were determined using simple equilibrium experiments. Three different techniques were used for determination of the kinetics. These were finite bath, infinite bath and fixed bed experiments. A mathematical model for countercurrent adsorption was tested. The model includes the effect of film diffusion and pore diffusion as well as surface diffusion, and can handle systems with a nonlinear isotherms. Kinetic data in the form of an average diffusivity in the carbon determined from the finite bath experiments and isotherm data did not predict the operation of the countercurrent column well. Data from the fixed bed experiments predicted countercurrent column operation much better. This is deemed to be due to inhomogeneities in the carbon used, resulting in a fairly quick initial uptake of the main part of the solute and a slower uptake of a minor amount.     

Computing Minimum Area Homologies

Calculating and categorizing the similarity of curves is a fundamental problem which has generated much recent interest. However, to date there are no implementations of these algorithms for curves on surfaces with provable guarantees on the quality of the measure. In this paper, we present a similarity measure for any two cycles that are homologous, where we calculate the minimum area of any homology (or connected bounding chain) between the two cycles. The minimum area homology exists for broader classes of cycles than previous measures which are based on homotopy. It is also much easier to compute than previously defined measures, yielding an efficient implementation that is based on linear algebra tools. We demonstrate our algorithm on a range of inputs, showing examples which highlight the feasibility of this similarity measure.     

Distributed non-cooperative robust MPC based on reduced-order models

In this paper, a non-cooperative distributed MPC algorithm based on reduced order model is proposed to stabilize large-scale systems. The large-scale system consists of a group of interconnected subsystems. Each subsystem can be partitioned into two parts: measurable part, whose states can be directly measured by sensors, and the unmeasurable part. In the online computation phase, only the measurable dynamics of the corresponding subsystem and neighbour-to-neighbour communication are necessary for the local controller design. Satisfaction of the state constraints and the practical stability are guaranteed while the complexity of the optimization problem is reduced. Numerical examples are given to show the effectiveness of this algorithm.     

A bio-inspired predictive sensory-motor coordination scheme for robot reaching and preshaping

This paper presents a sensory-motor coordination scheme for a robot hand-arm-head system that provides the robot with the capability to reach an object while pre-shaping the fingers to the required grasp configuration and while predicting the tactile image that will be perceived after grasping. A model for sensory-motor coordination derived from studies in humans inspired the development of this scheme. A peculiar feature of this model is the prediction of the tactile image. The implementation of the proposed scheme is based on a neuro-fuzzy module that, after a learning phase, starting from visual data, calculates the position and orientation of the hand for reaching, selects the best-suited hand configuration, and predicts the tactile feedback. The implementation of the scheme on a humanoid robot allowed experimental validation of its effectiveness in robotics and provided perspectives on applications of sensory predictions in robot motor control.     

Shaping stable periodic motions of inertia wheel pendulum: theory and experiment

We consider an underactuated two‐link robot called the inertia wheel pendulum. The system consists of a free planar rotational pendulum and a symmetric disk attached to its end, which is directly controlled by a DC‐motor. The goal is to create stable oscillations of the pendulum, which is not directly actuated. We exploit a recently proposed feedback‐control design strategy based on motion planning via virtual holonomic constraints. This strategy is shown to be useful for design of regulators for achieving orbitally exponentially stable oscillatory motions. The main contribution is a step‐by‐step procedure on how to achieve oscillations with pre‐specified amplitude from a given range and an arbitrary independently chosen period. The theoretical results are verified via experiments with a real hardware setup. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Superconducting gap in PrxY1?xBa2Cu4O8 and YBa2?ySryCu4O8 probed by infrared phonon self-energies

We report a reflectivity study of thez-polarized TO-phonons of Pr _x Y_1–x Ba₂Cu₄O₈ and YBa_2–y Sr _y Cu₄O₈ alloys in the temperature range 10–300 K. Anomalies of the frequency and linewidth of the plane-oxygen vibration at300 cm^–1 due to the opening of the superconducting gap are found to occur upon crossing the superconducting transition temperatureT _c . Phonon self-energy effects are strongly dependent onT _c , providing evidence for a relative shift of the gap with respect to the energy of phonon.On leave from the Institute for Semiconductor Physics, Ukrainian Academy of Sciences, 252650 Kiev-28, Ukraine.     

The method of fundamental solutions for problems in static thermo-elasticity with incomplete boundary data

An inverse problem in static thermo-elasticity is investigated. The aim is to reconstruct the unspecified boundary data, as well as the temperature and displacement inside a body from over-specified boundary data measured on an accessible portion of its boundary. The problem is linear but ill-posed. The uniqueness of the solution is established but the continuous dependence on the input data is violated. In order to reconstruct a stable and accurate solution, the method of fundamental solutions is combined with Tikhonov regularization where the regularization parameter is selected based on the L-curve criterion. Numerical results are presented in both two and three dimensions showing the feasibility and ease of implementation of the proposed technique.     

The motivation of information technology consultants: The struggle with social dimensions and identity

Increasingly, customer companies hire external information technology (IT) consultants, often on a special project basis. These consultants are employees of professional service firms, although they receive their assignments from the hiring companies, report to them, and are supervised by them. Using semistructured interviews with 12 IT consultants in Sweden, we examine the factors that influence their work motivation, including the effect of this dual allegiance—to the service firm and to the customer company. The data indicate that the primary motivators are the variety in tasks and the opportunity to influence and/or manage an entire project. Neither monetary incentives nor the consultancy firm norms are strong motivators. A factor that affects work behavior and motivation is the subordinate identity that IT consultants must assume with their powerful clients. The article concludes with practical suggestions for managers who seek to understand what motivates employees who work at a distance, under external control. © 2011 Wiley Periodicals, Inc.     

SearchFill: A stochastic optimization code for detecting atomic vacancies in crystalline and non-crystalline systems

We present an implementation of a stochastic optimization algorithm applied to location of atomic vacancies. Our method labels an empty point in space as a vacancy site, if the total spatial overlap of a “virtual sphere”, centered around the point, with the surrounding atoms (and other vacancies) falls below a tolerance parameter. A Metropolis-like algorithm displaces the vacancies randomly, using an “overlap temperature” parameter to allow for acceptance of moves into regions with higher overlap, thus avoiding local minima. Once the algorithm has targeted a point with low overlap, the overlap temperature is decreased, and the method works as a steepest descent optimization.Our method, with only two free parameters, is able to detect the correct number and coordinates of vacancies in a wide spectrum of condensed-matter systems, from crystals to amorphous solids, in fact in any given set of atomic coordinates, without any need of comparison with a reference initial structure.