Model falsification using set‐valued observers for a class of discrete‐time dynamic systems: a coprime factorization approach

This article introduces a new method for model falsification using set‐valued observers, which can be applied to a class of discrete linear time‐invariant dynamic systems with time‐varying model uncertainties. In comparison with previous results, the main advantages of this approach are as follows: The computation of the convex hull of the set‐valued estimates of the state can be avoided under certain circumstances; to guarantee convergence of the set‐valued estimates of the state, the required number of previous steps is at most as large as the number of states of the nominal plant; and it provides a straightforward nonconservative method to falsify uncertain models of dynamic systems, including open‐loop unstable plants. The results obtained are illustrated in simulation, emphasizing the advantages and shortcomings of the suggested method. Copyright © 2013 John Wiley & Sons, Ltd.     

Manipulating the microstructure and rheology in polymer‐organoclay composites

A series of nanocomposites prepared by melt‐blending of cloisite‐based organoclays with poly(ethylene‐vinylacetate) (EVA) and neutralized poly (ethylene‐methacrylic acid) (EMA) copolymers were investigated via DSC, small‐angle X‐ray scattering (SAXS), and rheological techniques. SAXS results indicated partial clay exfoliation in all samples. In both EMA and EVA systems, the nominal melting temperature T_m and bulk crystallinity are not significantly affected by the presence of organoclays, suggesting that clay particles are predominantly confined in the amorphous phase. In rheological measurements (above T_m), the EVA‐clay system demonstrated a solid‐like rheological behavior under the small‐strain oscillatory shear, yet it was able to yield and flow under a steady shear, which is the characteristic of physical crosslinking. In contrast, the EMA‐clay system exhibited a melt‐like rheological behavior, where the influence of organoclay on the thermorheological behavior of the EMA composite was quite minimal. We propose that the carbonyl groups of vinylacetate in EVA interact with the clay surface, resulting in a strong physically crosslinking like interaction in the melt. On the other hand, the interaction between EMA and clay is weak because of repulsion between carboxyl anions and negatively charged clay surface.     

Metabolic behavior in rats of a nonprotein microemulsion resembling low-density lipoprotein

A protein-free microemulsion (LDE) with a lipid composition resembling that of low-density lipoprotein (LDL) was used in metabolic studies in rats to compare LDE with the native lipoprotein. LDE labeled with radioactive lipids was injected into the bloodstream of male Wistar rats, and plasma kinetics of the labeled lipids were followed on plasma samples collected at regular intervals for 12 h after injection. The 24-h LDE uptake by different tissues was also measured in tissue samples excised after the animals had been sacrificed. We found that LDE plasma kinetics were similar to those described for native LDL [fractional clearance rate (FCR) of cholesteryl ester, 0.42±0.11 h⁻¹]. The major site for LDE uptake was the liver, and the tissue distribution of the LDE injected radioactivity was as one would expect for LDL. To test whether LDE was taken up by the specific LDL receptors, the LDE emulsion was injected into rats treated with 17α-ethinylestradiol, which is known to increase the activity of these receptors; as expected, removal of LDE from the bloodstream increased (FCR=0.90±0.35 h⁻¹). On the other hand, saturation of the receptors that remove remnants by prior infusion of massive amounts of lymph chylomicrons did not change LDE plasma kinetics. These results indicate that LDE is cleared from plasma by B,E receptors and not by the E receptors that remove remnants. Incorporation of free cholesterol into LDE increased LDE plasma clearance. Incubation studies also showed that LDE incorporates a variety of apolipoproteins, including apo E, a ligand for recognition of lipoproteins by specific receptors. Our data suggest that LDE can be a useful tool to test LDL metabolism and B,E receptor function.     

Metastable Phase Selection and Partitioning for Zr(1−x)AlxO(2−x/2) Materials Synthesized with Liquid Precursors

Aqueous solutions of zirconium acetate and aluminum nitrate were spray pyrolyzed at 250°C and upquenched to different temperatures to yield metastable solid solutions of composition Zr_{(1− x )}Al_xO_{(2− x /2)}. An amorphous oxide forms first during pyrolysis which subsequently crystallizes as a single phase for x ≤ 0.57 (≤40 mol% Al₂O₃). The crystallization temperature increased with Al₂O₃ content. Electron diffraction, supported by Raman spectroscopy, indicates that the initial phase is tetragonal. At higher temperatures, the initial solid solation partitions to other metastable phases, viz., t -ZrO₂+γ-Al₂O₃, prior to achieving their equilibrium phase assemblage, m -ZrO₂+α-Al₂O₃. Partitioning yields a nanocomposite microstructure with grain sizes of 20–100 nm, compared to the 3 to 5 nm in the initial, single phase. Compositions containing 45 to 50 mol% Al₂O₃ concurrently crystallize and partition. The structure selected during crystallization and the partitioning phenomena are discussed in terms of diffusional constraints during crystallization, which are conceptually similar to those operating during rapid solidification.     

Thermodynamic Modeling of Alkali Metal Oxide-Silica Binary Melts

The evaluation of the thermodynamic properties as well as the phase diagrams for the binary Na₂O–SiO₂, K₂O–SiO₂, and Li₂O–SiO₂ systems are carried out with a structural model for silicate melts and glasses. This thermodynamic model is based on the assumption that each metallic oxide produces the depolymerization reaction of silica network with a characteristic free-energy change. A least squares optimization program permits all available thermodynamic and phase diagram data to be optimized simultaneously. In this manner, data for these binary systems have been analyzed and represented with a small number of parameters. The resulting equations represent the thermodynamic and phase diagram data for these alkali metal oxide–silica systems within experimental error limits. In particular, the measured limiting liquidus slope at     is well reproduced.     

High molecular weight methyl ester of microbial poly(β,l-malic acid): Synthesis and crystallization

High molecular weight poly(α-methyl β,l-malate) (M_n ∼ 25,000, PD ∼ 1.7) was prepared from microbial poly(β,l-malic acid) (M_n ∼ 29,000, PD ∼ 1.3) by methylation with diazomethane in dry acetone without substantial cleavage of the polyester main chain. The thermal properties of this poly(malate) were assessed and its crystal structure was preliminary examined. Two crystal forms were identified by X-ray diffraction, their occurrence being dependent on crystallization conditions. The kinetics of nonisothermal and isothermal crystallizations from the melt were studied and modelled using the Avrami approach. Results were compared to those recently reported by us for low molecular weight poly(α-methyl β,l-malate) (M_n ∼ 3000, PD ∼ 1.3).     

Frontline robots in tourism and hospitality: service enhancement or cost reduction?

Electronic Markets - Robots are being implemented in many frontline services, from waiter robots in restaurants to robotic concierges in hotels. A growing number of firms in hospitality and tourism...     

A New Geometric Subproblem to Extend Solvability of Inverse Kinematics Based on Screw Theory for 6R Robot Manipulators

Geometric inverse kinematics procedures that divide the whole problem into several subproblems with known solutions, and make use of screw motion operators have been developed in the past for 6R robot manipulators. These geometric procedures are widely used because the solutions of the subproblems are geometrically meaningful and numerically stable. Nonetheless, the existing subproblems limit the types of 6R robot structural configurations for which the inverse kinematics can be solved. This work presents the solution of a novel geometric subproblem that solves the joint angles of a general anthropomorphic arm. Using this new subproblem, an inverse kinematics procedure is derived which is applicable to a wider range of 6R robot manipulators. The inverse kinematics of a closed curve were carried out, in both simulations and experiments, to validate computational cost and realizability of the proposed approach. Multiple 6R robot manipulators with different structural configurations were used to validate the generality of the method. The results are compared with those of other methods in the screw theory framework. The obtained results show that our approach is the most general and the most efficient.

     

Analytic expressions for the isosteric heat of adsorption from adsorption isotherm models and two-dimensional SAFT-VR equation of state

The isosteric heat of adsorption is an important thermodynamic property used to characterize and optimize adsorption processes. In this work, analytic expressions for isosteric heats of adsorption are derived for a collection of commonly used isotherm models and a two-dimensional molecular equation of state based on the SAFT-VR approach. The use of these expressions is presented with an example of adsorption of nitrous oxide, N₂O, on biochar, which is a waste biomass charcoal that exhibits high adsorption potential. The results show that accurate fitting of the adsorption isotherms leads to consistent results obtained with different approaches; however, the predicted isosteric heat of adsorption exhibits strong variations in the regions where experimental data is insufficient such in the region of low pressure/low coverage. Convergence on the prediction of the isosteric heat of adsorption by the different models is only observed in the region where no extrapolation of experimental data is needed.     

Modulating drug release from poly(lactic-co-glycolic) acid microparticles by the addition of alginate and pectin

The aim of the present work is the characterization of PLGA microparticles including biopolymers for the controlled release of tilmicosin, a broad-spectrum antibiotic. Microparticles were prepared using the double-emulsion solvent evaporation technique. The effect of alginate and pectin incorporation over particle size and porosity, encapsulation efficiency (EE) and pH-responsive drug release was evaluated. Formulations presented a mean particle size of 5.5 μm approximately and a drug EE ranged from 22%–57%. PLGA-Alginate particles showed an increased porosity. Tilmicosin release profiles from PLGA and PLGA-biopolymer microparticles were affected by the particular combination of polymers and the pH of the release medium. The experimental data was simulated using a mathematical model, which takes into account the autocatalytic polymer degradation and the different mechanisms of drug transport. The combination of PLGA and biopolymers strongly influenced the morphology of the particles, offering the possibility of controlling the drug release profiles according to the therapy.