A New Nonlinear Controller for Trajectory Tracking of the Longitudinal Dynamics of a Small Scale Helicopter

A nonlinear control scheme is proposed for the trajectory tracking problem of a small scale helicopter’s longitudinal dynamics. The control scheme is based on a control design procedure that constructs static feedback regulators for nonlinear systems which are linearizable by dynamic feedback. Besides, the flatness characteristics of the helicopter’s longitudinal dynamics are used to design the desired trajectory. The controller proposed is based on the longitudinal model of the small scale helicopter including the main rotor and stabilizer bar dynamics. Sufficient conditions are given to guarantee asymptotic convergence to zero of the tracking error and to keep the main rotor thrust always negative assuming that all the helicopter’s parameters are known and that all helicopter’s states are measured. Numerical simulations are given to show the performance of the controller in the presence of the main rotor and stabilizer bar dynamics.     

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.     

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).     

Dissecting the protocol and network traffic of the OnLive cloud gaming platform

Cloud gaming is a new paradigm that is envisaged to play a pivotal role in the video game industry in forthcoming years. Cloud gaming, or gaming on demand, is a type of online gaming that allows on-demand streaming of game content onto non-specialised devices (e.g. PC, smart TV, etc.). This approach requires no downloads or game installation because the actual game is executed on the game company’s server and is streamed directly to the client. Nonetheless, this revolutionary approach significantly affects the network load generated by online games. As cloud gaming presents new challenges for both network engineers and the research community, both groups need to be fully conversant with these new cloud gaming platforms. The purpose of this paper is to investigate OnLive, one of the most popular cloud gaming platforms. Our key contributions are: (a) a review of the state-of-the-art of cloud gaming; (b) reverse engineering of the OnLive protocol; and (c) a synthetic traffic model for OnLive.     

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.     

New N,O-containing ligands for the biomimetic copper-catalyzed polymerization of 2,6-dimethylphenol

Poly(2,6-dimethyl-1,4-phenylene ether) (PPE), which is widely used in high-performance engineering plastics, is obtained by the copper-catalyzed oxidative coupling of 2,6-dimethylphenol. The oxidative polymerizations have been carried out in acetonitrile with structurally related [copper-(N,O-containing ligand)] complexes as the catalyst precursor compounds, which appeared to be of great interest for a better understanding of the factors influencing the catalytic activities. Steric effects (influence of a methyl group close to the metal center; ligands 4–7) or electronic effects (imino versus amino group; ligands 4, 5, 8 and 6, 7, 9, respectively) on the polymerization rates have been demonstrated. The use of mono- or dinucleating ligands has strengthened the proposed mechanism of the reaction involving dinuclear active species.     

Upgrading of gas oils: the HDS kinetics of dibenzothiophene and its derivatives in real gas oil

The hydrodesulphurization (HDS) of dibenzothiophene (DBT), 4-methyl dibenzothiophene (4 M-DBT), 4,6-dimethyl dibenzothiophene (4,6 DM-DBT) and 4,6-diethyl dibenzothiophene (4,6 DE-DBT) as real gas oil components on NiMo/Al₂O₃ catalyst was investigated. On the basis of the first order rate constants of HDS of the individual sulphur compounds reactivities of the investigated compounds decreased in the order DBT ≫ 4 M-DBT > 4,6 DE-DBT ≈ 4,6 DM-DBT. Apparent activation energies of HDS of above sulphur compounds increased from 80.0 to 120.5 kJ/mol.     

Measurement and Correlation for Solubility of (S)-(+)-2,2-Dimethyl-cyclopropane Carbox Amide in Different Solvents

1 INTRODUCTION (S)-(+)-2,2-dimethylcyclopropane carbox amide [(+)-DMCPCA, Fig.1] is a key intermediate of Cilas- tatin, an inhibitor of dehydropeptidase-I. As the syner- gist of imipenem (an antibiotic drug), cilastatin is widely used in clinical applications and has prosper- ous prospects[1]. In industrial manufacture[2―6], as the optical intermediate, the chemical and optical purity of (+)-DMCPCA would affect the quality of cilastatin. So, the separation and purification are impo…     

Sorption and permeation of solutions of chloride salts, water and methanol in a Nafion membrane

The sorption of water–methanol mixtures containing a dissolved chloride salt in a Nafion 117 membrane, and their transport through the membrane under the driving force of a pressure gradient, have been studied. Both type of experiments was performed by using five different salts: lithium chloride, sodium chloride, cesium chloride, magnesium chloride and calcium chloride. It was observed that both the permeation flow through the membrane and the membrane swelling increase significantly with the methanol content of the solutions. These facts are attributed to the increase in wet membrane porosity, which brings about the increase of the mobility of solvents in the membrane, besides the increase of the mobility of the polymer pendant chains. In contrast, the influence of the type of electrolyte on the membrane porosity and permeability is not very important, with the exception of the CsCl solutions, which is probably due to the small hydration ability of the Cs⁺ ion.