Nichtlineare Trajektorienfolgeregelung für einen Laborhelikopter

This contribution is devoted to the nonlinear tracking control problem of the laboratory experiment helicopter 3DOF distributed by Quanser. The laboratory experiment belongs to the class of mechanical systems with three degrees-of-freedom and two control inputs. It is well known that the systematic design of nonlinear controllers for underactuated mechanical systems is a challenge compared to fully actuated systems. On certain simplifying assumptions, which very well apply to the operating range of practical interest, we can show that the mathematical model is configuration flat. Thereby, a mechanical system is said to be configuration flat if it is differential flat and the flat outputs solely depend on the generalized coordinates of the mechanical system. The controller design is based on a formulation of the mechanical system on a Riemannian manifold where the kinetic energy serves as a natural Riemannian metric. In a first step a nonlinear tracking controller including an integral part in the linear error system is designed by means of a quasi-static state feedback. In a second step the design of the tracking controller is based on the theory of exact linearization utilizing the so-called dynamic extension algorithm. The experimental results of both controllers are compared and discussed in detail. In particular, the quasi-static state feedback controller shows an excellent tracking behavior. The performance as being obtained by the nonlinear controlled cannot be achieved by conventional linear control strategies.     

Ein Beitrag zur nichtlinearen Fahrdynamik-regelung: die differentielle Flachheit des Einspurmodells

This contribution is primarily concerned with the system analysis of the bicycle dynamics, revealing the differential flatness property as a main result. A physically relevant representative for the flat output is introduced, with its components given as the lateral and the longitudinal velocity of a distinguished point located on the longitudinal axis of the vehicle. This flatness property is shown for the front-, rear- and all-wheel driven vehicle, without referring to particular representatives of the functions modelling the lateral tire forces. Following the flatness based control theory, a novel approach to nonlinear vehicle dynamics control is discussed.     

Expert system applications in software engineering

This paper presents an overview of research in expert systems and artificial intelligence as they relate to software engineering. The paper begins with a review of current thinking regarding the software process. This is followed by a discussion of artificial intelligence (AI) and the paradigms it uses. Six current projects are described: three are concerned with programming in the large and three with programming in the small. These six projects provide a representative sample of the AI research now underway in the software engineering domain. The paper concludes with some observations regarding when and how the concepts represented by these projects will be available for application to operational projects.     

Elastodynamic parameters for dynamic interface fracture mechanics

Summary Dynamic extension of cracks running along curvilinear interfaces of brittle bimaterials subjected to mechanical crack surface loads and superimposed thermal strains acting along the ligament is considered. This paper especially addresses the provision and discussion of elastodynamic interface parameters in order to assess quantitatively the bimaterial fracture in view of the governing physical features: applied mechanical and thermal strain loading, existence of an interface, crack-tip velocity and curvature of the interface contour. By utilizing the linear theory of thermoelasticity and adopting Stroh's method of generalized complex potentials, from the corresponding boundary and continuity conditions vectorial Hilbert problems are derived. It is shown that the parameters of the eigenvalues and of the eigenvectors of the Hilbert problems can be interpreted as elastodynamic interface mechanics parameters reading (,v _p, _Hf , _Hf ). Generalized Dundurs parameters of dynamics (, ) and consequently an associated generalized Dundurs diagram of dynamics are proposed. While the aforementioned elastodynamic interface parameters (, ,v _p, _Hf , _Hf ) do not assume the interface to be damaged, interfaces with running interface cracks generally cause two additional interface parameters, denoted as bimaterial constants (, _Hf ), where the latter is specific to the curvature of the interface in conjunction with the velocity of the interface crack. However, the bimaterial constants (, _Hf ) can be traced back to interface parameters for an uncracked bimaterial, namely to (, _Hf ).     

Factorial interlaboratory tests for microbiological measurement methods

This paper presents a validation approach for microbiological methods based on a combination of interlaboratory tests and factorial experiments. It requires not more than 4 participants but is achieving comparable statistical confidence as in method validation studies with 8–12 participants, if properly designed. The approach is illustrated by a comprehensive validation of the Arxula adeninivorans yeast estrogen screen (A-YES) assay for the detection of estrogenic activity in mineral water.     

Water activity,water glass dynamics,and the control of microbiological growth in foods

Water is probably the single most important factor governing microbial spoilage in foods, and the concept of water activity (a_w) has been very valuable because measured values generally correlate well with the potential for growth and metabolic activity. Despite some drawbacks (e.g., solute effect), the concept of a_w has assisted food scientists in their effort to predict the onset of food spoilage as well as to control food‐borne disease hazards in food products. In the last decade the concept of a_w has been challenged. It has been suggested that reduced‐moisture food products (e.g., low and intermediate) may be nonequilibrium systems and that most of them are in the amorphous metastable state, which is very sensitive to changes in moisture content and temperature. It has been proposed that the glass transition temperature T_g (temperature at which the glass‐rubber transition occurs), is a parameter that can determine many product properties, the safety of foods among them. The concept of water dynamics, originating in a food polymer science approach, has been suggested instead of a_w to better predict the microbial stability of intermediate‐moisture foods. The usage of a_w to predict microbial safety of foods has been discouraged on the basis that (1) in intermediate‐moisture foods the measured water vapor pressure is not an equilibrium one, and because a_w is a thermodynamic concept, it refers only to equilibrium; and (2) the microbial response may differ at a particular a_w when the latter is obtained with different solutes.

This review analyzes these suggestions on the basis of abundant experimental evidence found in the literature. It is concluded that nonequilibrium effects (e.g., inability of water to diffuse in a semimoist food) appear to be in many cases slow within the time frame (food's shelf life) of the experiments and/or so small that they do not affect seriously the application of the a_w concept as a predictor of microbial stability in foods.

The claims that a food science polymer approach to understanding the behavior of aqueous sugar glasses and concentrated solutions may be used to predict the microbial stability of food systems is not substantiated by experimental evidence. This approach does not offer, at the present time, a better alternative to the concept of a_w as a predictor of microbial growth in foods.

It is also recognized that a_w has several limitations and should be always used carefully, and this must include precautions regarding the possible influences of nonequilibrium situations. This aspect may be summarized by simply saying that anyone who is going to employ the term water activity must be aware of the implications of its definition.     

Thermal unfolding of β‐lactoglobulin, α‐lactalbumin,and bovine serum albumin. A thermodynamic approach

Heat‐treatment is one of the most commonly used processes in food preparation technology. An understanding of the thermodynamics of protein stability and of conformational changes of proteins, acquired through the measurement of the denaturation temperature, is therefore of particular importance. This paper attempts to shed light on the interpretation of recent calorimetric data on the thennal denaturation of bovine β‐lactoglobulin, α‐lactalbumin, and bovine serum albumin by showing that thermodynamic parameters of heat‐induced unfolding, measured by differential scanning calonmetry, are closely related to the prevailing chemical conditions such as pH, concentration of ions, protein purity, and protein concentration.     

Restricted proteolysis of legumin of broad beans: Effect on thermodynamic properties of aqueous solutions and interaction with ficoll

Thermodynamic properties of aqueous solutions of both native and modified legumin of broad beans (Vicia faba L.) have been examined. A restricted trypsin-induced proteolysis was used to modify protein structure. Evaluation of protein affinity to ficoll in aqueous solutions showed that modified protein possessed higher hydrophilicity. Thermodynamic properties of diluted solutions were used to predict the phase behaviour in concentrated systems containing protein and ficoll. At specific concentrations of native legumin, the system can separate in two phases, whereas in the case of modified protein the single-phase behaviour of the system was predicted for any concentrations of both components. The experimental data obtained in concentrated systems confirmed predictions of thermodynamic analysis of diluted solutions.